MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.8s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.6s	12 errors · 321 warnings · 1525 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-01-16-25-191240-0662de6621f7-7530 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.18sINFOstatic_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' + 4.18sINFOstatic_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' + 4.18sINFOstatic_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' + 4.20sINFOstatic_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' + 4.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.26sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOcontroller_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. + 4.30sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.33sINFOcontroller_serverCreating controller server + 4.36sINFOlocal_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. + 4.36sINFOlocal_costmap.local_costmapCreating Costmap + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.42sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.46sINFOros2_control_node-12process started with pid [7672] ×2 + 4.46sINFOmove_group-24process started with pid [7688] ×2 + 4.46sINFOparameter_manager_node-25process started with pid [7738] ×2 + 4.46sINFOwaypoint_manager_node-26process started with pid [7739] ×2 + 4.46sINFOmove_joint_resampler_node-27process started with pid [7740] ×2 + 4.46sINFOmove_end_effector_resampler_node-28process started with pid [7742] ×2 + 4.46sINFOobjective_server_node_main-29process started with pid [7743] ×2 + 4.46sINFOcomponent_container_mt-30process started with pid [7744] ×2 + 4.46sINFOcomponent_container_mt-31process started with pid [7745] ×2 + 4.46sINFOexecute_objective_bridge-32process started with pid [7746] ×2 + 4.46sINFOui_teleop_bridge-33process started with pid [7747] ×2 + 4.46sINFOweb_bridge-34process started with pid [7748] ×2 + 4.46sINFOtf2_web_republisher_node-35process started with pid [7751] ×2 + 4.46sINFOvideo_server-36process started with pid [7752] ×2 + 4.46sINFOweb_bridge_auth_proxy-37process started with pid [7753] ×2 + 4.46sINFOweb_video_auth_proxy-38process started with pid [7756] ×2 + 4.46sINFOsmoother_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. + 4.47sINFOcomponent_container_isolated-1process started with pid [7580] ×2 + 4.47sINFOcomponent_container_isolated-2process started with pid [7581] ×2 + 4.47sINFOstatic_transform_publisher-3process started with pid [7582] ×2 + 4.47sINFOstatic_transform_publisher-4process started with pid [7583] ×2 + 4.47sINFOodom_qos_relay.py-5process started with pid [7584] ×2 + 4.47sINFOforward_stereo_publisher.py-6process started with pid [7585] ×2 + 4.47sINFOlidar_flattener.py-7process started with pid [7586] ×2 + 4.47sINFOstatic_transform_publisher-8process started with pid [7587] ×2 + 4.47sINFOstatic_transform_publisher-9process started with pid [7588] ×2 + 4.47sINFOscan_to_scan_filter_chain-10process started with pid [7670] ×2 + 4.47sINFOscan_to_scan_filter_chain-11process started with pid [7671] ×2 + 4.47sINFOros2-13process started with pid [7673] ×2 + 4.47sINFOros2-14process started with pid [7674] ×2 + 4.47sINFOros2-15process started with pid [7675] ×2 + 4.48sINFOros2-16process started with pid [7676] ×2 + 4.48sINFOros2-17process started with pid [7677] ×2 + 4.48sINFOros2-18process started with pid [7678] ×2 + 4.48sINFOros2-19process started with pid [7679] ×2 + 4.48sINFOros2-20process started with pid [7680] ×2 + 4.48sINFOros2-21process started with pid [7681] ×2 + 4.48sINFOros2-22process started with pid [7686] ×2 + 4.48sINFOros2-23process started with pid [7687] ×2 + 4.50sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.50sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.50sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.50sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.50sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.50sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.50sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.50sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.50sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.51sINFOsmoother_serverCreating smoother server + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.54sINFOplanner_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. + 4.54sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.56sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.58sINFOplanner_serverCreating + 4.59sINFOmap_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. + 4.59sINFOmap_serverCreating + 4.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.60sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.62sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.62sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.62sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.63sWARNcontroller_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. + 4.65sWARNros2_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 + 4.66sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.66sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.67sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.68sINFOglobal_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. + 4.68sINFOglobal_costmap.global_costmapCreating Costmap + 4.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912876 ms (missed cycles : 2). + 4.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912876 ms (missed cycles : 2).[0m ×2 + 4.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.75sINFObehavior_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. + 4.75sINFOvideo_server2026/09/04 01:16:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.75sINFOvideo_server2026/09/04 01:16:31 INF configuration loaded from /tmp/moveit-webrtc-2blptb7k/mediamtx.yml ×2 + 4.75sINFOvideo_server2026/09/04 01:16:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.75sINFOvideo_server2026/09/04 01:16:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.77sINFOlifecycle_manager_localizationCreating + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.79sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.79sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.79sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.79sINFOmap_serverConfiguring + 4.79sINFOrobot_state_publisherRobot initialized + 4.79sINFOcontroller_managerReceived robot description from topic. + 4.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.79sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.83sINFObt_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. + 4.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.83sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.84sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.86sINFObt_navigatorCreating + 4.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.90sINFOwaypoint_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. + 4.91sINFOwaypoint_followerCreating + 4.91sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.91sINFOamclConfiguring + 4.92sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.92sINFOmap_serverActivating + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.92sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.96sINFOvelocity_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. + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.00sINFOlifecycle_manager_navigationCreating + 5.03sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.03sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.03sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.03sINFOamclActivating + 5.03sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.03sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.04sINFOamclSubscribed to map_topic: /map + 5.04sINFOamclSubscribed to scan_topic: /scan_merged + 5.05sINFOamclCreated reinitialize_global_localization service + 5.06sINFOamclCreated request_nomotion_update service + 5.06sINFOamclA new map was received + 5.06sINFOamclInitializing particle filter instance + 5.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.09sINFOcontroller_serverConfiguring controller interface + 5.09sINFOcontroller_servergetting progress checker plugins.. + 5.09sINFOcontroller_servergetting goal checker plugins.. + 5.09sINFOcontroller_serverController frequency set to 20.0000Hz + 5.09sINFOlocal_costmap.local_costmapConfiguring + 5.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.15sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.18sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.19sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.19sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.22sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.22sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.23sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.23sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.25sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.26sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.26sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.27sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.32sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.32sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.33sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.34sWARNlaser_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. + 5.34sWARNscan_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 + 5.35sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.35sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.36sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.36sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.37sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.37sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.37sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.37sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.37sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.37sWARNlaser_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. + 5.38sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.38sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.39sINFOcontroller_serverOptimizer reset ×2 + 5.41sINFOcontroller_serverController Server has FollowPath controllers available. + 5.47sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.47sINFOsmoother_serverConfiguring smoother server + 5.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.51sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.501572 seconds + 5.51sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.51sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.51sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.51sINFOmove_groupLoaded robot model in 0.501572 seconds[0m ×2 + 5.51sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.51sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.54sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.54sINFOplanner_serverConfiguring + 5.54sINFOglobal_costmap.global_costmapConfiguring + 5.54sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.64sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.64sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.66sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.66sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.66sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683891 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683891 ms (missed cycles : 3).[0m ×2 + 5.74sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.74sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.74sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.76sINFOplanner_serverPlanner Server has GridBased planners available. + 5.79sINFOamclParticle filter initialization completed + 5.79sINFOamclInitializing particles from estimated pose and covariance + 5.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.79sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.79sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.79sINFObehavior_serverConfiguring + 5.80sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.80sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.80sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.80sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.82sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.84sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.85sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.87sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.88sINFObehavior_serverConfiguring spin + 5.91sINFObehavior_serverConfiguring backup + 5.92sINFObehavior_serverConfiguring drive_on_heading + 5.93sINFObehavior_serverConfiguring assisted_teleop + 5.95sINFObehavior_serverConfiguring wait + 5.96sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.96sINFObt_navigatorConfiguring + 5.98sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.00sWARNbt_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 + 6.19sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.23sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.23sINFOwaypoint_followerConfiguring + 6.25sINFOwaypoint_manager_nodeLoaded robot model in 0.352003 seconds[0m ×2 + 6.25sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.25sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.26sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.26sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.26sWARNmove_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. + 6.26sWARNmove_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 + 6.26sWARNmove_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. + 6.26sWARNmove_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 + 6.26sWARNmove_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. + 6.26sWARNmove_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. + 6.26sWARNmove_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. + 6.26sWARNmove_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 + 6.26sWARNmove_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. + 6.26sWARNmove_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 + 6.26sWARNmove_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. + 6.26sWARNmove_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. + 6.26sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.26sWARNmove_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. + 6.26sWARNmove_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. + 6.26sWARNmove_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 + 6.26sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.26sWARNmove_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 + 6.26sINFOvelocity_smootherConfiguring velocity smoother + 6.26sWARNmove_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 + 6.26sWARNmove_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 + 6.26sWARNmove_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 + 6.26sWARNmove_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 + 6.27sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.27sINFOcontroller_serverActivating + 6.27sINFOlocal_costmap.local_costmapActivating + 6.27sINFOlocal_costmap.local_costmapChecking transform + 6.27sINFOlocal_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. ×10 + 6.33sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.33sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.33sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.36sINFOros2_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 + 6.36sINFOros2_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 + 6.60sINFOmove_group[2026-09-04 01:16:33.459] [moveit_pro_license] [info] ×2 + 6.60sINFOmove_group************************************************* ×4 + 6.60sINFOmove_group* MoveIt Pro License ×2 + 6.60sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768863 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768863 ms (missed cycles : 2).[0m ×2 + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.78sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_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 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.04sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.04sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.04sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.04sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.04sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.04sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.04sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.04sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.04sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.04sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.04sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.04sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.05sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.10sINFOwaypoint_manager_node[2026-09-04 01:16:33.963] [moveit_pro_license] [info] ×2 + 7.10sINFOwaypoint_manager_node************************************************* ×4 + 7.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.18sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.18sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.18sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.18sWARNros2_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 + 7.18sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.18sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.18sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.18sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.18sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.18sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.18sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.18sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 7.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 7.43sINFOros2_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 + 7.43sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.43sWARNros2_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 + 7.45sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.45sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.46sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.47sINFOforce_torque_sensor_broadcasterconfigure successful + 7.47sINFOros2_control_nodeconfigure successful[0m ×6 + 7.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.47sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.78sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 7.78sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 7.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 7.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 7.78sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 7.78sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733655 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733655 ms (missed cycles : 2).[0m ×2 + 7.81sINFOros2-13process has finished cleanly [pid 7673] ×2 + 7.84sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 7.84sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 7.84sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 7.84sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 7.85sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 7.85sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 7.85sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 7.85sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.96sINFOcomponent_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 + 7.98sINFOstreaming_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 + 7.98sINFOcomponent_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 + 7.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×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 + 8.14sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.15sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.15sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.18sINFOros2-14process has finished cleanly [pid 7674] ×2 + 8.18sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.18sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.20sINFOstreaming_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) + 8.20sINFOcomponent_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 + 8.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.27sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 8.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 8.32sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.32sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.32sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.45sINFOobjective_server_node[2026-09-04 01:16:35.313] [moveit_pro_license] [info] ×2 + 8.45sINFOobjective_server_node************************************************* ×4 + 8.45sINFOobjective_server_node* MoveIt Pro License ×2 + 8.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.53sINFOobjective_server_nodeLoaded robot model in 0.0358562 seconds[0m ×2 + 8.53sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.53sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.53sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.70sWARNcomponent_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 + 8.74sINFOmove_groupMoveGroup debug mode is ON + 8.74sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.74sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.76sINFOros2_control_node[2026-09-04 01:16:35.621] [info] Controller state will be published at 20 Hz. ×2 + 8.76sINFOros2_control_node[2026-09-04 01:16:35.622] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.79sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.79sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.79sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435606 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435606 ms (missed cycles : 3).[0m ×2 + 8.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.91sINFOmove_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 ****************************************************** + 8.91sINFOmove_group ×8 + 8.91sINFOmove_group****************************************************** ×4 + 8.91sINFOmove_group* MoveGroup using: ×2 + 8.91sINFOmove_group* - apply_planning_scene_service ×2 + 8.91sINFOmove_group* - clear_octomap_service ×2 + 8.91sINFOmove_group* - get_group_urdf ×2 + 8.91sINFOmove_group* - load_geometry_from_file ×2 + 8.91sINFOmove_group* - get_planning_scene_service ×2 + 8.91sINFOmove_group* - kinematics_service ×2 + 8.91sINFOmove_group* - save_geometry_to_file ×2 + 8.91sINFOmove_group* - GetPlanningGroups ×2 + 8.91sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.91sINFOmove_group[0m ×2 + 8.91sINFOmove_group[92mYou can start planning now![0m ×2 + 8.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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 + 9.07sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.07sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.07sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.07sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.08sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.08sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.10sINFOros2-22process has finished cleanly [pid 7686] ×2 + 9.10sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.14sINFOcomponent_container_mtLoaded robot model in 0.445749 seconds[0m ×2 + 9.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 9.14sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.14sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 9.19sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.19sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.25sWARNros2_control_nodeCamera render tick took 1.05 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 9.28sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.28sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.29sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.29sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.56sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.69sINFOros2_control_node[2026-09-04 01:16:36.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.69sINFOros2_control_node[2026-09-04 01:16:36.559] [info] Controller state will be published at 10 Hz. ×2 + 9.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sINFOros2_control_node[2026-09-04 01:16:36.561] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sINFOcomponent_container_mt[2026-09-04 01:16:36.731] [moveit_pro_license] [info] ×2 + 9.87sINFOcomponent_container_mt************************************************* ×4 + 9.87sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.87sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.91sWARNros2_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 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537145 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537145 ms (missed cycles : 4).[0m ×2 + 10.01sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.01sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.01sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.01sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 10.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 10.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.05sINFOros2-21process has finished cleanly [pid 7681] ×2 + 10.06sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.06sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.07sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.08sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.08sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.26sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.26sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788484595.065 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 10.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 10.42sWARNobjective_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 + 10.43sINFOros2-17process has finished cleanly [pid 7677] ×2 + 10.43sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.43sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.43sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.43sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.85sINFOros2_control_node[2026-09-04 01:16:37.716] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.85sINFOros2_control_node[2026-09-04 01:16:37.718] [info] Controller state will be published at 10 Hz. ×2 + 10.85sINFOros2_control_node[2026-09-04 01:16:37.719] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228961 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228961 ms (missed cycles : 2).[0m ×2 + 11.16sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.16sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 11.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 11.19sINFOros2-20process has finished cleanly [pid 7680] ×2 + 11.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.27sINFOlocal_costmap.local_costmapstart + 11.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.38sWARNcontroller_serverParameter controller_server.verbose not found + 11.38sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.49sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.49sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.49sINFOsmoother_serverActivating + 11.49sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.54sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.54sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.54sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.54sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.55sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 11.55sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 11.57sINFOros2-15process has finished cleanly [pid 7675] ×2 + 11.60sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.60sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.60sINFOplanner_serverActivating + 11.60sINFOglobal_costmap.global_costmapActivating + 11.60sINFOglobal_costmap.global_costmapChecking transform + 11.60sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 11.61sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.61sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.61sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.62sINFOplatform_velocity_controllerconfigure successful + 11.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.63sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.63sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 11.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 11.97sINFOros2-16process has finished cleanly [pid 7676] ×2 + 11.98sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788484597.936 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.02sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.02sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331504 ms (missed cycles : 5). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331504 ms (missed cycles : 5).[0m ×2 + 12.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.03sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.03sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.03sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.04sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.04sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.04sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 6.338ms + 12.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 12.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 12.40sINFOros2-19process has finished cleanly [pid 7679] ×2 + 12.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.42sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.42sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.42sINFOplatform_velocity_controller_nav2configure successful + 12.60sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788484599.425189, but only time 1788484599.556961 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w + 12.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9ogjxr6 --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_inreh5qn --params-file /tmp/launch_params__n0dvv3w [0m ×2 + 12.79sINFOros2-18process has finished cleanly [pid 7678] ×2 + 12.81sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.81sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.82sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.82sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185350 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185350 ms (missed cycles : 2).[0m ×2 + 13.10sINFOglobal_costmap.global_costmapstart + 13.24sINFOros2_control_node[2026-09-04 01:16:40.105] [info] Controller state will be published at 20 Hz. ×2 + 13.24sINFOros2_control_node[2026-09-04 01:16:40.106] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.58sINFOros2-23process has finished cleanly [pid 7687] ×2 + 14.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.15sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284506 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284506 ms (missed cycles : 2).[0m ×2 + 14.26sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.26sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.26sINFObehavior_serverActivating + 14.26sINFObehavior_serverActivating spin + 14.26sINFObehavior_serverActivating backup + 14.26sINFObehavior_serverActivating drive_on_heading + 14.26sINFObehavior_serverActivating assisted_teleop + 14.26sINFObehavior_serverActivating wait + 14.26sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.36sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.36sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.36sINFObt_navigatorActivating + 14.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.52sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.52sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.52sINFOwaypoint_followerActivating + 14.52sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.63sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.63sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.63sINFOvelocity_smootherActivating + 14.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.65sWARNros2_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 + 14.73sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.73sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 17.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 18.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.44sINFOobjective_server_nodecaller: ×10 + 18.44sINFOobjective_server_nodetype: 0 ×10 + 18.44sINFOobjective_server_nodename: "" ×10 + 18.44sINFOobjective_server_nodeinstance_id: "" ×10 + 18.44sINFOobjective_server_node ×10 + 18.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.47sINFOmove_groupClearing octomap...[0m ×2 + 18.47sINFOmove_groupOctomap cleared.[0m ×2 + 18.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 19.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 19.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 19.95sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 20.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.39sINFOobjective_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 + 20.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 20.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 20.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.1s	3 errors · 294 warnings · 254 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.879ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232387 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232387 ms (missed cycles : 2).[0m ×2 + 0.55sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 0.57sWARNros2_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 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.539ms + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.918ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252908 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252908 ms (missed cycles : 3).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.777ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776370 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776370 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.295ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 3.20sINFOobjective_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 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sERRORobjective_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: 1788484816.49525213 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756221 ms (missed cycles : 2). + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-0.41, 2.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.31, 2.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756221 ms (missed cycles : 2).[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.504ms + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788484817.07323480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.980ms + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231672 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231672 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768525 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768525 ms (missed cycles : 2).[0m ×2 + 5.78sWARNros2_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 + 5.80sWARNros2_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 ×6 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.51sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.51sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450686 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450686 ms (missed cycles : 5).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776506 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776506 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.171ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721279 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721279 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.661ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720711 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720711 ms (missed cycles : 3).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.295ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680317 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680317 ms (missed cycles : 2).[0m ×2 + 11.02sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.04sWARNros2_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 + 11.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924642 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924642 ms (missed cycles : 4).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 7.465ms + 12.78sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 5.979ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267988 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267988 ms (missed cycles : 4).[0m ×2 + 13.37sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 3.997ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004896 ms (missed cycles : 4). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004896 ms (missed cycles : 4).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282749 ms (missed cycles : 5). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282749 ms (missed cycles : 5).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 16.24sWARNros2_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 + 16.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081415 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081415 ms (missed cycles : 2).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524894 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524894 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202224 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202224 ms (missed cycles : 2).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884636 ms (missed cycles : 5). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884636 ms (missed cycles : 5).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669614 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669614 ms (missed cycles : 3).[0m ×2 + 21.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 21.81sWARNros2_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 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934954 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934954 ms (missed cycles : 3).[0m ×2 + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799547 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799547 ms (missed cycles : 2).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951909 ms (missed cycles : 3). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951909 ms (missed cycles : 3).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879262 ms (missed cycles : 4). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879262 ms (missed cycles : 4).[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312870 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312870 ms (missed cycles : 2).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061774 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061774 ms (missed cycles : 3).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785382 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785382 ms (missed cycles : 2).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690394 ms (missed cycles : 3). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690394 ms (missed cycles : 3).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610917 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610917 ms (missed cycles : 4).[0m ×2 + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 30.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610791 ms (missed cycles : 5). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610791 ms (missed cycles : 5).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 32.34sWARNros2_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 ×6 + 32.36sWARNros2_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 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596455 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596455 ms (missed cycles : 3).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451618 ms (missed cycles : 3). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451618 ms (missed cycles : 3).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049569 ms (missed cycles : 4). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049569 ms (missed cycles : 4).[0m ×2 + 34.88sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.89sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 35.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743520 ms (missed cycles : 4). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743520 ms (missed cycles : 4).[0m ×2 + 36.04sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236051 ms (missed cycles : 3). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236051 ms (missed cycles : 3).[0m ×2 + 37.54sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 37.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006003 ms (missed cycles : 2). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006003 ms (missed cycles : 2).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629362 ms (missed cycles : 3). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629362 ms (missed cycles : 3).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768318 ms (missed cycles : 3). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768318 ms (missed cycles : 3).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.441ms + 41.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376389 ms (missed cycles : 3). + 41.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376389 ms (missed cycles : 3).[0m ×2 + 41.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781556 ms (missed cycles : 3). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781556 ms (missed cycles : 3).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794959 ms (missed cycles : 2). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794959 ms (missed cycles : 2).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769302 ms (missed cycles : 3). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769302 ms (missed cycles : 3).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442075 ms (missed cycles : 4). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442075 ms (missed cycles : 4).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915664 ms (missed cycles : 4). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915664 ms (missed cycles : 4).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537178 ms (missed cycles : 5). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537178 ms (missed cycles : 5).[0m ×2 + 47.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520342 ms (missed cycles : 6). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520342 ms (missed cycles : 6).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020599 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020599 ms (missed cycles : 2).[0m ×2 + 49.83sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 49.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.671ms + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852467 ms (missed cycles : 3). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852467 ms (missed cycles : 3).[0m ×2 + 51.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559022 ms (missed cycles : 3). + 51.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559022 ms (missed cycles : 3).[0m ×2 + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143675 ms (missed cycles : 2). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143675 ms (missed cycles : 2).[0m ×2 + 53.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900499 ms (missed cycles : 2). + 53.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900499 ms (missed cycles : 2).[0m ×2 + 54.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×4 + 54.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339448 ms (missed cycles : 2). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339448 ms (missed cycles : 2).[0m ×2 + 55.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842773 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842773 ms (missed cycles : 3).[0m ×2 + 56.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 56.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874105 ms (missed cycles : 2). + 56.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874105 ms (missed cycles : 2).[0m ×2 + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213251 ms (missed cycles : 2). + 57.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213251 ms (missed cycles : 2).[0m ×2 + 58.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745261 ms (missed cycles : 5). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745261 ms (missed cycles : 5).[0m ×2 + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537589 ms (missed cycles : 4). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537589 ms (missed cycles : 4).[0m ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681151 ms (missed cycles : 3). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681151 ms (missed cycles : 3).[0m ×2 + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728705 ms (missed cycles : 2). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728705 ms (missed cycles : 2).[0m ×2 + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601619 ms (missed cycles : 2). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601619 ms (missed cycles : 2).[0m ×2 + 63.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 64.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654502 ms (missed cycles : 3). + 64.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654502 ms (missed cycles : 3).[0m ×2 + 64.82sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 65.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153926 ms (missed cycles : 3). + 65.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153926 ms (missed cycles : 3).[0m ×2 + 65.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 66.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300439 ms (missed cycles : 2). + 66.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300439 ms (missed cycles : 2).[0m ×2 + 66.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 67.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858897 ms (missed cycles : 2). + 67.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858897 ms (missed cycles : 2).[0m ×2 + 67.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 68.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788484881.55339479 seconds ×3 + 68.38sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.38sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.58sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.58sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530359 ms (missed cycles : 3). + 68.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530359 ms (missed cycles : 3).[0m ×2 + 68.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.83sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788484882.12850285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.372ms + 69.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930306 ms (missed cycles : 3). + 69.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930306 ms (missed cycles : 3).[0m ×2 + 70.71sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 70.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978278 ms (missed cycles : 2). + 70.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978278 ms (missed cycles : 2).[0m ×2 + 71.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 71.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	255 warnings · 200 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172188 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172188 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721575 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721575 ms (missed cycles : 3).[0m ×2 + 8.94sWARNros2_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 + 8.96sWARNros2_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 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.424ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825537 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825537 ms (missed cycles : 2).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.345ms + 10.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.193ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400525 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400525 ms (missed cycles : 4).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.364ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508092 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508092 ms (missed cycles : 3).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.690ms + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.236ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307424 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307424 ms (missed cycles : 3).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.685ms + 13.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.700ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941017 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941017 ms (missed cycles : 5).[0m ×2 + 14.22sWARNros2_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 + 14.24sWARNros2_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 + 14.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.656ms + 14.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730420 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730420 ms (missed cycles : 2).[0m ×2 + 15.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.648ms + 16.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.844ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756923 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756923 ms (missed cycles : 3).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379430 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379430 ms (missed cycles : 3).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 4518 particles 723 points - 8.416ms + 17.87sINFOamclParticle filter update iteration stats: 3544 particles 723 points - 6.954ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738288 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738288 ms (missed cycles : 2).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 7.748ms + 19.07sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 4.581ms + 19.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957258 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957258 ms (missed cycles : 2).[0m ×2 + 19.63sWARNros2_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 + 19.65sWARNros2_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 + 19.67sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.754ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020565 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020565 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090957 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090957 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825785 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825785 ms (missed cycles : 2).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980873 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980873 ms (missed cycles : 2).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485755 ms (missed cycles : 3). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485755 ms (missed cycles : 3).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 25.13sWARNros2_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 + 25.15sWARNros2_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 + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827097 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827097 ms (missed cycles : 2).[0m ×2 + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919558 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919558 ms (missed cycles : 2).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361901 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361901 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390920 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390920 ms (missed cycles : 2).[0m ×2 + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259929 ms (missed cycles : 5). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259929 ms (missed cycles : 5).[0m ×2 + 30.13sWARNros2_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 + 30.15sWARNros2_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 ×6 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378925 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378925 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688559 ms (missed cycles : 2). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688559 ms (missed cycles : 2).[0m ×2 + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201328 ms (missed cycles : 5). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201328 ms (missed cycles : 5).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727173 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727173 ms (missed cycles : 2).[0m ×2 + 34.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 34.83sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817506 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817506 ms (missed cycles : 3).[0m ×2 + 35.25sWARNros2_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 + 35.27sWARNros2_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 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778234 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778234 ms (missed cycles : 2).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727074 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727074 ms (missed cycles : 2).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127358 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127358 ms (missed cycles : 2).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381803 ms (missed cycles : 3). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381803 ms (missed cycles : 3).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051344 ms (missed cycles : 4). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051344 ms (missed cycles : 4).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371694 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371694 ms (missed cycles : 2).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156743 ms (missed cycles : 2). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156743 ms (missed cycles : 2).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963430 ms (missed cycles : 2). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963430 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972527 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972527 ms (missed cycles : 3).[0m ×2 + 45.83sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 45.85sWARNros2_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 + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174124 ms (missed cycles : 3). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174124 ms (missed cycles : 3).[0m ×2 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252453 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252453 ms (missed cycles : 2).[0m ×2 + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073580 ms (missed cycles : 4). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073580 ms (missed cycles : 4).[0m ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158359 ms (missed cycles : 4). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158359 ms (missed cycles : 4).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037806 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037806 ms (missed cycles : 2).[0m ×2 + 51.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748740 ms (missed cycles : 5). + 51.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748740 ms (missed cycles : 5).[0m ×2 + 52.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783718 ms (missed cycles : 3). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783718 ms (missed cycles : 3).[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139908 ms (missed cycles : 4). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139908 ms (missed cycles : 4).[0m ×2 + 54.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845767 ms (missed cycles : 2). + 54.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845767 ms (missed cycles : 2).[0m ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112619 ms (missed cycles : 5). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112619 ms (missed cycles : 5).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 56.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627521 ms (missed cycles : 4). + 56.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627521 ms (missed cycles : 4).[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340905 ms (missed cycles : 4). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340905 ms (missed cycles : 4).[0m ×2 + 58.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724819 ms (missed cycles : 2). + 58.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724819 ms (missed cycles : 2).[0m ×2 + 59.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311631 ms (missed cycles : 4). + 59.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311631 ms (missed cycles : 4).[0m ×2 + 60.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 60.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788484945.44641280 seconds ×3 + 60.57sWARNlocal_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. ×3 + 60.57sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213621 ms (missed cycles : 3). + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213621 ms (missed cycles : 3).[0m ×2 + 60.87sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.87sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.02sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788484946.03270006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.383ms + 61.44sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 61.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546272 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546272 ms (missed cycles : 2).[0m ×2 + 62.49sWARNros2_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 + 62.51sWARNros2_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 + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884978 ms (missed cycles : 2). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884978 ms (missed cycles : 2).[0m ×2 + 63.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351857 ms (missed cycles : 2). + 63.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351857 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	245 warnings · 207 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788484656.81711483 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_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 3.980566 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980566 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788484657.39530897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×4 + 4.09sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.972ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3).[0m ×2 + 5.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_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 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912979 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912979 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666728 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666728 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.323ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690704 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690704 ms (missed cycles : 3).[0m ×2 + 9.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 10.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.27sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202081 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202081 ms (missed cycles : 2).[0m ×2 + 10.92sWARNros2_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 ×6 + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897245 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897245 ms (missed cycles : 3).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898183 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898183 ms (missed cycles : 2).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543518 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543518 ms (missed cycles : 3).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 14.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287987 ms (missed cycles : 5). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287987 ms (missed cycles : 5).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 15.61sWARNros2_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 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430464 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430464 ms (missed cycles : 3).[0m ×2 + 16.22sWARNros2_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 + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992245 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992245 ms (missed cycles : 3).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363152 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363152 ms (missed cycles : 3).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188909 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188909 ms (missed cycles : 2).[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 19.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725777 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725777 ms (missed cycles : 2).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 21.01sWARNros2_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 ×8 + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787729 ms (missed cycles : 3). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787729 ms (missed cycles : 3).[0m ×2 + 21.65sWARNros2_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 + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554448 ms (missed cycles : 3). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554448 ms (missed cycles : 3).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999847 ms (missed cycles : 3). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999847 ms (missed cycles : 3).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940709 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940709 ms (missed cycles : 3).[0m ×2 + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.120ms + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559541 ms (missed cycles : 3). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559541 ms (missed cycles : 3).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070400 ms (missed cycles : 3). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070400 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115763 ms (missed cycles : 5). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115763 ms (missed cycles : 5).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064677 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064677 ms (missed cycles : 2).[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560058 ms (missed cycles : 4). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560058 ms (missed cycles : 4).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367690 ms (missed cycles : 3). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367690 ms (missed cycles : 3).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519053 ms (missed cycles : 4). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519053 ms (missed cycles : 4).[0m ×2 + 32.13sWARNros2_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 + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501098 ms (missed cycles : 3). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501098 ms (missed cycles : 3).[0m ×2 + 32.81sWARNros2_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 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 33.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291705 ms (missed cycles : 4). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291705 ms (missed cycles : 4).[0m ×2 + 34.59sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367773 ms (missed cycles : 4). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367773 ms (missed cycles : 4).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769186 ms (missed cycles : 2). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769186 ms (missed cycles : 2).[0m ×2 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559855 ms (missed cycles : 5). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559855 ms (missed cycles : 5).[0m ×2 + 37.23sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354342 ms (missed cycles : 3). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354342 ms (missed cycles : 3).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786650 ms (missed cycles : 4). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786650 ms (missed cycles : 4).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398945 ms (missed cycles : 2). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398945 ms (missed cycles : 2).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221806 ms (missed cycles : 3). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221806 ms (missed cycles : 3).[0m ×2 + 41.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877320 ms (missed cycles : 2). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877320 ms (missed cycles : 2).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008710 ms (missed cycles : 5). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008710 ms (missed cycles : 5).[0m ×2 + 43.47sWARNros2_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 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233234 ms (missed cycles : 2). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233234 ms (missed cycles : 2).[0m ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464974 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464974 ms (missed cycles : 2).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519177 ms (missed cycles : 3). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519177 ms (missed cycles : 3).[0m ×2 + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716826 ms (missed cycles : 2). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716826 ms (missed cycles : 2).[0m ×2 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832237 ms (missed cycles : 4). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832237 ms (missed cycles : 4).[0m ×2 + 49.03sWARNros2_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 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239662 ms (missed cycles : 3). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239662 ms (missed cycles : 3).[0m ×2 + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280132 ms (missed cycles : 2). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280132 ms (missed cycles : 2).[0m ×2 + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138479 ms (missed cycles : 3). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138479 ms (missed cycles : 3).[0m ×2 + 52.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652534 ms (missed cycles : 3). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652534 ms (missed cycles : 3).[0m ×2 + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628477 ms (missed cycles : 3). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628477 ms (missed cycles : 3).[0m ×2 + 55.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111971 ms (missed cycles : 2). + 55.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111971 ms (missed cycles : 2).[0m ×2 + 55.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110282 ms (missed cycles : 4). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110282 ms (missed cycles : 4).[0m ×2 + 57.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 58.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 58.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 59.70sWARNros2_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 + 59.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 60.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 seconds ×3 + 60.23sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.33sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.33sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 60.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 61.46sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 62.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 63.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 63.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.5s	249 warnings · 218 info
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788484753.27448606 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788484753.85618901 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 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.807ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5).[0m ×2 + 4.85sWARNros2_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 ×8 + 5.43sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863801 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863801 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787601 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787601 ms (missed cycles : 2).[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.415ms + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253040 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253040 ms (missed cycles : 2).[0m ×2 + 9.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.900ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990331 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990331 ms (missed cycles : 2).[0m ×2 + 9.98sWARNros2_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 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.317ms + 10.58sWARNros2_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 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.108ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705868 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705868 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.265ms + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.018ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111758 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111758 ms (missed cycles : 2).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.589ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.722ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838998 ms (missed cycles : 5). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838998 ms (missed cycles : 5).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.880ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000365 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000365 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.879ms + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.933ms + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984861 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984861 ms (missed cycles : 4).[0m ×2 + 15.36sWARNros2_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 + 15.40sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 9.422ms + 15.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 16.00sINFOamclParticle filter update iteration stats: 4011 particles 723 points - 7.370ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102619 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102619 ms (missed cycles : 3).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 5.790ms + 17.19sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 5.254ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806826 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806826 ms (missed cycles : 3).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 3.387ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479191 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479191 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373067 ms (missed cycles : 3). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373067 ms (missed cycles : 3).[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676067 ms (missed cycles : 3). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676067 ms (missed cycles : 3).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806831 ms (missed cycles : 4). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806831 ms (missed cycles : 4).[0m ×2 + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768807 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768807 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486220 ms (missed cycles : 2). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486220 ms (missed cycles : 2).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712278 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712278 ms (missed cycles : 2).[0m ×2 + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617275 ms (missed cycles : 3). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617275 ms (missed cycles : 3).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.461ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204308 ms (missed cycles : 5). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204308 ms (missed cycles : 5).[0m ×2 + 27.00sWARNros2_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 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534993 ms (missed cycles : 3). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534993 ms (missed cycles : 3).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637164 ms (missed cycles : 3). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637164 ms (missed cycles : 3).[0m ×2 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893201 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893201 ms (missed cycles : 2).[0m ×2 + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665105 ms (missed cycles : 4). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665105 ms (missed cycles : 4).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 32.00sWARNros2_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 + 32.02sWARNros2_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 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405483 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405483 ms (missed cycles : 3).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123830 ms (missed cycles : 3). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123830 ms (missed cycles : 3).[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 33.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135164 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135164 ms (missed cycles : 2).[0m ×2 + 34.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940376 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940376 ms (missed cycles : 3).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217085 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217085 ms (missed cycles : 2).[0m ×2 + 37.12sWARNros2_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 ×6 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302694 ms (missed cycles : 2). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302694 ms (missed cycles : 2).[0m ×2 + 38.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124918 ms (missed cycles : 5). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124918 ms (missed cycles : 5).[0m ×2 + 38.77sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950940 ms (missed cycles : 5). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950940 ms (missed cycles : 5).[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953695 ms (missed cycles : 2). + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953695 ms (missed cycles : 2).[0m ×2 + 40.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 41.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920564 ms (missed cycles : 2). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920564 ms (missed cycles : 2).[0m ×2 + 42.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317723 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317723 ms (missed cycles : 3).[0m ×2 + 42.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 43.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158440 ms (missed cycles : 2). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158440 ms (missed cycles : 2).[0m ×2 + 44.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890860 ms (missed cycles : 2). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890860 ms (missed cycles : 2).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089693 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089693 ms (missed cycles : 2).[0m ×2 + 47.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.240ms + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396542 ms (missed cycles : 3). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396542 ms (missed cycles : 3).[0m ×2 + 47.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 48.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442269 ms (missed cycles : 3). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442269 ms (missed cycles : 3).[0m ×2 + 49.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429481 ms (missed cycles : 3). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429481 ms (missed cycles : 3).[0m ×2 + 50.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719833 ms (missed cycles : 3). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719833 ms (missed cycles : 3).[0m ×2 + 51.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224776 ms (missed cycles : 2). + 51.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224776 ms (missed cycles : 2).[0m ×2 + 52.76sWARNros2_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 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260146 ms (missed cycles : 2). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260146 ms (missed cycles : 2).[0m ×2 + 53.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894663 ms (missed cycles : 3). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894663 ms (missed cycles : 3).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 55.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424672 ms (missed cycles : 3). + 55.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424672 ms (missed cycles : 3).[0m ×2 + 55.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788484805.81632233 seconds ×3 + 55.41sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.41sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.81sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.81sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788484806.39429712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.30sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 56.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.937ms + 56.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879652 ms (missed cycles : 3). + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879652 ms (missed cycles : 3).[0m ×2 + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760877 ms (missed cycles : 2). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760877 ms (missed cycles : 2).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810325 ms (missed cycles : 4). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810325 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	182 warnings · 381 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.21sINFOobjective_server_nodecaller: ×12 + 1.21sINFOobjective_server_nodetype: 0 ×12 + 1.21sINFOobjective_server_nodename: "" ×12 + 1.21sINFOobjective_server_nodeinstance_id: "" ×12 + 1.21sINFOobjective_server_node ×12 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760509 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760509 ms (missed cycles : 3).[0m ×2 + 8.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 8.11sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 3.469ms + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584016 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584016 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966082 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966082 ms (missed cycles : 3).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128735 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128735 ms (missed cycles : 4).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045200 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045200 ms (missed cycles : 3).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471251 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471251 ms (missed cycles : 3).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469106 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469106 ms (missed cycles : 3).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039146 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039146 ms (missed cycles : 3).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252298 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252298 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939801 ms (missed cycles : 2). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939801 ms (missed cycles : 2).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676112 ms (missed cycles : 3). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676112 ms (missed cycles : 3).[0m ×2 + 18.85sWARNros2_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 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216560 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216560 ms (missed cycles : 2).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264980 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264980 ms (missed cycles : 2).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655004 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655004 ms (missed cycles : 3).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155812 ms (missed cycles : 3). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155812 ms (missed cycles : 3).[0m ×2 + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708849 ms (missed cycles : 3). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708849 ms (missed cycles : 3).[0m ×2 + 24.37sWARNros2_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 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052534 ms (missed cycles : 2). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052534 ms (missed cycles : 2).[0m ×2 + 24.94sWARNros2_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 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362060 ms (missed cycles : 3). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362060 ms (missed cycles : 3).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843245 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843245 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709048 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709048 ms (missed cycles : 3).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384512 ms (missed cycles : 3). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384512 ms (missed cycles : 3).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010793 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010793 ms (missed cycles : 2).[0m ×2 + 30.00sWARNros2_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 ×4 + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646805 ms (missed cycles : 3). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646805 ms (missed cycles : 3).[0m ×2 + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334943 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334943 ms (missed cycles : 3).[0m ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895216 ms (missed cycles : 2). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895216 ms (missed cycles : 2).[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094076 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094076 ms (missed cycles : 2).[0m ×2 + 34.52sWARNros2_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 ×4 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167077 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167077 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044022 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044022 ms (missed cycles : 2).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134753 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134753 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381035 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381035 ms (missed cycles : 2).[0m ×2 + 38.49sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.186ms + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603755 ms (missed cycles : 4). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603755 ms (missed cycles : 4).[0m ×2 + 40.19sWARNros2_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 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972978 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972978 ms (missed cycles : 2).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916351 ms (missed cycles : 3). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916351 ms (missed cycles : 3).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045319 ms (missed cycles : 3). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045319 ms (missed cycles : 3).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3).[0m ×2 + 45.31sWARNros2_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 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3).[0m ×2 + 46.57sINFOjoint_trajectory_controllerGoal reached, success! + 46.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788484650.68209839 seconds ×3 + 46.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5).[0m ×2 + 47.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788484651.25698352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3).[0m ×2 + 48.28sINFOobjective_server_nodeFound path in 0 iterations (2.4706e-05 s). ×2 + 48.34sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3).[0m ×2 + 49.82sWARNros2_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 + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	156 warnings · 183 info
+ 0.00sWARNros2_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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959592 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959592 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019979 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019979 ms (missed cycles : 3).[0m ×2 + 1.67sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788484720.43825817 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590898 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590898 ms (missed cycles : 3).[0m ×2 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788484722.02435088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045882 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045882 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786544 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786544 ms (missed cycles : 2).[0m ×2 + 4.50sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.15sWARNros2_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 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130114 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130114 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006836 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006836 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843038 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843038 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.033ms + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122675 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122675 ms (missed cycles : 4).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.634ms + 9.69sWARNros2_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 + 9.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.872ms + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408595 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408595 ms (missed cycles : 3).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 10.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.914ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145814 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145814 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.415ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.309ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966173 ms (missed cycles : 5). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966173 ms (missed cycles : 5).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.615ms + 12.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.162ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065114 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065114 ms (missed cycles : 2).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 13.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.193ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378126 ms (missed cycles : 4). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378126 ms (missed cycles : 4).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.828ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887735 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887735 ms (missed cycles : 4).[0m ×2 + 14.97sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.766ms + 15.60sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 8.590ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989640 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989640 ms (missed cycles : 2).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 3596 particles 723 points - 8.344ms + 16.81sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 5.963ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061851 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061851 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.936ms + 18.02sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.769ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436519 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436519 ms (missed cycles : 3).[0m ×2 + 18.67sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.450ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.617ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587128 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587128 ms (missed cycles : 3).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058041 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058041 ms (missed cycles : 3).[0m ×2 + 20.49sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms ×2 + 21.17sWARNros2_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 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349699 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349699 ms (missed cycles : 3).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148411 ms (missed cycles : 3). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148411 ms (missed cycles : 3).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473043 ms (missed cycles : 4). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473043 ms (missed cycles : 4).[0m ×2 + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972485 ms (missed cycles : 4). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972485 ms (missed cycles : 4).[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283352 ms (missed cycles : 4). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283352 ms (missed cycles : 4).[0m ×2 + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530286 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530286 ms (missed cycles : 3).[0m ×2 + 26.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794308 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794308 ms (missed cycles : 2).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275199 ms (missed cycles : 3). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275199 ms (missed cycles : 3).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728665 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728665 ms (missed cycles : 2).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038356 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038356 ms (missed cycles : 2).[0m ×2 + 31.12sWARNros2_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 + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 31.81sWARNros2_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 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4).[0m ×2 + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2).[0m ×2 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3).[0m ×2 + 34.55sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788484753.27448606 seconds ×3 + 34.62sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.62sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788484753.85618901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2).[0m ×2 + 35.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.807ms + 35.54sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5).[0m ×2 + 37.24sWARNros2_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 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.2s	98 warnings · 189 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340905 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724819 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724819 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311631 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311631 ms (missed cycles : 4).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788484945.44641280 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sWARNlocal_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. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213621 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213621 ms (missed cycles : 3).[0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788484946.03270006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.383ms + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546272 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546272 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_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 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884978 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884978 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351857 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351857 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395468 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395468 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076122 ms (missed cycles : 4). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076122 ms (missed cycles : 4).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353602 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353602 ms (missed cycles : 3).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 10.07sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.09sWARNros2_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 + 10.16sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 10.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845014 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845014 ms (missed cycles : 2).[0m ×2 + 10.92sINFOobjective_server_nodeFound path in 33 iterations (0.031366 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146525 ms (missed cycles : 4). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146525 ms (missed cycles : 4).[0m ×2 + 12.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.27sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136022 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136022 ms (missed cycles : 3).[0m ×2 + 12.83sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.08sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328911 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328911 ms (missed cycles : 2).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335784 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335784 ms (missed cycles : 2).[0m ×2 + 15.15sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.285ms + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.614ms + 16.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.152ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.398ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.409ms + 19.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788484961.68862343 seconds ×3 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2).[0m ×2 + 19.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.940ms + 19.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484962.29482889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.69sINFOmove_groupClearing octomap...[0m ×2 + 19.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.69sINFOmove_groupOctomap cleared.[0m ×2 + 20.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2).[0m ×2 + 21.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.7s	104 errors · 38 warnings · 455 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484966.06496334 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083884 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083884 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484966.63564348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484967.16577935 seconds ×3 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733322 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733322 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.03sWARNros2_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 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567285 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567285 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979342 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979342 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193848 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193848 ms (missed cycles : 2).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205334 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205334 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594376 ms (missed cycles : 3). + 9.86sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.91sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594376 ms (missed cycles : 3).[0m ×2 + 9.91sERRORweb_video_auth_proxy-38process has died [pid 7756, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.91sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.92sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.93sERRORweb_bridge_auth_proxy-37process has died [pid 7753, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.93sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.94sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.95sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.96sINFOvideo_server-36process has finished cleanly [pid 7752] ×2 + 9.96sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.98sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.99sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.00sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.01sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.03sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.04sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.05sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.07sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.08sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.08sINFOcontroller_managerShutdown request received.... + 10.08sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.08sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.08sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.08sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.08sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.08sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.09sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.09sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.09sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.09sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.09sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.09sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down the controller manager. + 10.09sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.11sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.11sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.12sERRORmove_group-24process has died [pid 7688, 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_agfa8ixr --params-file /tmp/launch_params_k40omvad --params-file /tmp/launch_params_ic3gvkfg --params-file /tmp/launch_params_cqcdb3rq --params-file /tmp/launch_params_kb_8rti2 --params-file /tmp/launch_params_fuvan5d7']. ×2 + 10.12sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.13sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.14sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.15sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.16sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.16sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.17sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.17sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.17sINFOmap_serverDeactivating + 10.17sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.18sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.18sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.18sINFOcontroller_serverDeactivating + 10.18sINFOlocal_costmap.local_costmapDeactivating + 10.18sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.18sINFOvideo_server2026/09/04 01:22:52 INF shutting down gracefully ×2 + 10.18sINFOvideo_server2026/09/04 01:22:52 INF [WebRTC] closing ×2 + 10.18sINFOvideo_server2026/09/04 01:22:52 INF [RTSP] closing ×2 + 10.18sINFOvideo_server2026/09/04 01:22:52 INF waiting for running hooks ×2 + 10.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOmap_serverCleaning up + 10.18sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.18sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.19sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.19sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.19sERRORmove_groupStack trace (most recent call last) in thread 8376: ×2 + 10.19sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.19sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9256f42a63, in __clone ×2 + 10.19sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9256eb5aa3, in ×2 + 10.19sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9257147db3, in ×2 + 10.19sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f92578aca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.19sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f92574d9620, in rclcpp::Rate::sleep() ×2 + 10.19sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f925741bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.19sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f92573dd087, in ×2 + 10.19sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9257116390, in __cxa_throw ×2 + 10.19sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9257100a54, in std::terminate() ×2 + 10.19sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92571160d9, in ×2 + 10.19sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9257100ff4, in ×2 + 10.19sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9256e418fe, in abort ×2 + 10.19sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9256e5e27d, in raise ×2 + 10.19sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9256eb7b2c, in pthread_kill ×2 + 10.19sERRORmove_groupAborted (Signal sent by tkill() 7688 0) ×2 + 10.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.19sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.19sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.19sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.19sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.19sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.19sINFOodom_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 + 10.19sINFOodom_qos_relay.pymain() ×2 + 10.19sINFOodom_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 + 10.19sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.19sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.19sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.19sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.19sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.19sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.19sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.20sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.21sERRORamclThe bond connection to the lifecycle manager has been broken + 10.22sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.23sINFOcontroller_serverCleaning up + 10.23sINFOlocal_costmap.local_costmapCleaning up + 10.28sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.28sINFOsmoother_serverDeactivating + 10.28sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.29sINFOsmoother_serverCleaning up + 10.30sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.30sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.30sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.30sINFOplanner_serverDeactivating + 10.30sINFOglobal_costmap.global_costmapDeactivating + 10.30sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.34sWARNros2_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 + 10.38sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.38sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.38sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.38sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.38sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.38sINFOvelocity_smootherDeactivating + 10.38sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.49sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.49sINFOwaypoint_followerDeactivating + 10.49sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.61sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.61sINFObt_navigatorDeactivating + 10.61sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.72sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.72sINFObehavior_serverDeactivating + 10.72sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.83sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.83sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.83sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.83sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.83sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.84sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.84sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.84sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.84sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.84sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.84sINFOvelocity_smootherCleaning up + 10.84sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.84sINFOwaypoint_followerCleaning up + 10.87sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.87sINFObt_navigatorCleaning up + 11.00sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7751] ×2 + 11.00sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.05sINFObt_navigatorCompleted Cleaning up + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.05sINFObehavior_serverCleaning up + 11.08sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7742] ×2 + 11.08sINFOui_teleop_bridge-33process has finished cleanly [pid 7747] ×2 + 11.09sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7740] ×2 + 11.09sINFOexecute_objective_bridge-32process has finished cleanly [pid 7746] ×2 + 11.11sINFOcomponent_container_mt-31process has finished cleanly [pid 7745] ×2 + 11.11sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.11sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.11sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.11sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.11sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.11sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.11sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.12sINFOparameter_manager_node-25process has finished cleanly [pid 7738] ×2 + 11.14sINFOwaypoint_manager_node-26process has finished cleanly [pid 7739] ×2 + 11.15sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7671] ×2 + 11.15sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.15sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.16sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7670] ×2 + 11.16sINFOplanner_serverCleaning up + 11.16sINFOstatic_transform_publisher-9process has finished cleanly [pid 7588] ×2 + 11.17sINFOstatic_transform_publisher-8process has finished cleanly [pid 7587] ×2 + 11.17sINFOglobal_costmap.global_costmapCleaning up + 11.18sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.18sINFOlidar_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 + 11.18sINFOlidar_flattener.pymain() ×2 + 11.18sINFOlidar_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 + 11.18sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.18sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.18sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.18sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.18sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.18sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.18sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.18sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.18sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.18sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.18sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.19sINFOobjective_server_node[2026-09-04 01:22:54.006] [moveit_pro_license] [critical] ×2 + 11.19sINFOobjective_server_node************************************************* ×4 + 11.19sINFOobjective_server_node* MoveIt Pro License ×2 + 11.19sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.21sINFOstatic_transform_publisher-4process has finished cleanly [pid 7583] ×2 + 11.22sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.22sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.22sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.22sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.22sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.22sINFOstatic_transform_publisher-3process has finished cleanly [pid 7582] ×2 + 11.24sERRORlidar_flattener.py-7process has died [pid 7586, 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_l2jx9r47']. ×2 + 11.26sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7585] ×2 + 11.26sERRORodom_qos_relay.py-5process has died [pid 7584, 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 + 11.27sINFOobjective_server_node_main-29process has finished cleanly [pid 7743] ×2 + 11.27sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.54sERRORcomponent_container_isolated-1process has died [pid 7580, 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_tppzoobg --params-file /tmp/launch_params_9onm0o07 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.57sERRORcomponent_container_isolated-2process has died [pid 7581, 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_tppzoobg --params-file /tmp/launch_params_pb4h46c7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.20sINFOcomponent_container_mt-30process has finished cleanly [pid 7744] ×2 + 12.82sINFOros2_control_node-12process has finished cleanly [pid 7672] ×2 + 12.86sINFOweb_bridge-34process has finished cleanly [pid 7748] ×2 + 12.86sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 100 warnings · 154 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260146 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260146 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894663 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894663 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424672 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424672 ms (missed cycles : 3).[0m ×2 + 2.50sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788484805.81632233 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788484806.39429712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.937ms + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879652 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879652 ms (missed cycles : 3).[0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760877 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760877 ms (missed cycles : 2).[0m ×2 + 5.39sWARNros2_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 + 5.42sWARNros2_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 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810325 ms (missed cycles : 4). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810325 ms (missed cycles : 4).[0m ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881774 ms (missed cycles : 5). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881774 ms (missed cycles : 5).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965895 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965895 ms (missed cycles : 2).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.667ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795291 ms (missed cycles : 5). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795291 ms (missed cycles : 5).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.692ms + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.879ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232387 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232387 ms (missed cycles : 2).[0m ×2 + 10.52sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.55sWARNros2_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 + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.539ms + 11.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.918ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252908 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252908 ms (missed cycles : 3).[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.777ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776370 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776370 ms (missed cycles : 2).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.295ms + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 13.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.19sINFOjoint_trajectory_controllerGot request to cancel goal + 13.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.19sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.21sERRORobjective_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: 1788484816.49525213 seconds ×3 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756221 ms (missed cycles : 2). + 13.26sWARNlocal_costmap.local_costmapSensor origin at (-0.41, 2.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.26sWARNlocal_costmap.local_costmapSensor origin at (-1.31, 2.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756221 ms (missed cycles : 2).[0m ×2 + 13.46sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.46sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.504ms + 13.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788484817.07323480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.980ms + 14.18sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231672 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231672 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768525 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768525 ms (missed cycles : 2).[0m ×2 + 15.78sWARNros2_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 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450686 ms (missed cycles : 5). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450686 ms (missed cycles : 5).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	65 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2 + 6.97sWARNros2_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 + 7.58sWARNros2_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 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959592 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959592 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019979 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019979 ms (missed cycles : 3).[0m ×2 + 9.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788484720.43825817 seconds ×3 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590898 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590898 ms (missed cycles : 3).[0m ×2 + 10.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788484722.02435088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045882 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045882 ms (missed cycles : 2).[0m ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786544 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786544 ms (missed cycles : 2).[0m ×2 + 12.08sWARNros2_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 + 12.73sWARNros2_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 + 12.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130114 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130114 ms (missed cycles : 2).[0m ×2 + 13.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	71 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153926 ms (missed cycles : 3).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300439 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300439 ms (missed cycles : 2).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858897 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858897 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.99sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788484881.55339479 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530359 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530359 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788484882.12850285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.372ms + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930306 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930306 ms (missed cycles : 3).[0m ×2 + 4.94sWARNros2_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 + 4.96sWARNros2_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 + 5.41sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978278 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978278 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 7.41sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 9.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 9.41sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 12.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	51 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_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 ×4 + 1.69sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788484650.68209839 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788484651.25698352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.4706e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3).[0m ×2 + 6.19sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2 + 6.79sWARNros2_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 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 7.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3).[0m ×2 + 8.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 9.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788484656.81711483 seconds ×3 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980566 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980566 ms (missed cycles : 3).[0m ×2 + 9.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788484657.39530897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 10.10sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 10.28sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.972ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 11.98sWARNros2_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 + 12.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	4.4s	41 warnings · 120 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4).[0m ×2 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.614ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.152ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.398ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.409ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788484961.68862343 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.940ms + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484962.29482889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 4.11sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484966.06496334 seconds ×3 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083884 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083884 ms (missed cycles : 2).[0m ×2 + 7.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.93sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484966.63564348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484967.16577935 seconds ×3 + 8.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733322 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733322 ms (missed cycles : 2).[0m ×2 + 9.16sWARNros2_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 + 9.18sWARNros2_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 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567285 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567285 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979342 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979342 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	27 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_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 + 1.69sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788484650.68209839 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788484651.25698352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.4706e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.74sINFOjoint_trajectory_controllerAccepted new action goal + 4.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3).[0m ×2 + 6.19sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	27 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131198 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909538 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_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 + 1.69sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989185 ms (missed cycles : 3).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788484650.68209839 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743698 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788484651.25698352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866376 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.4706e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.74sINFOjoint_trajectory_controllerAccepted new action goal + 4.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764659 ms (missed cycles : 3).[0m ×2 + 6.19sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	29 warnings · 75 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962282 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629049 ms (missed cycles : 2).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700438 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788484656.81711483 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980566 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980566 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788484657.39530897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.09sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.972ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737139 ms (missed cycles : 3).[0m ×2 + 5.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_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 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677483 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 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	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620317 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424787 ms (missed cycles : 2).[0m ×2 + 1.80sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678661 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788484714.08544016 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 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_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 (-2.98, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429722 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788484714.66813159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.516ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447972 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719045 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371472 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	42 warnings · 74 info
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788484753.27448606 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788484753.85618901 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 ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.807ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5).[0m ×2 + 4.85sWARNros2_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 + 5.43sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	42 warnings · 74 info
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788484753.27448606 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788484753.85618901 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 ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.807ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5).[0m ×2 + 4.85sWARNros2_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 + 5.43sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	42 warnings · 74 info
+ 0.00sWARNros2_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 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930568 ms (missed cycles : 4).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987797 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421106 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788484753.27448606 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788484753.85618901 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 ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336106 ms (missed cycles : 2).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.807ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861395 ms (missed cycles : 5).[0m ×2 + 4.85sWARNros2_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 + 5.43sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868356 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	32 warnings · 69 info
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (-2.38, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204318 ms (missed cycles : 2).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (-2.37, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797353 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617051 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788484887.94865489 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (-2.36, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876109 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788484888.53627539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.62sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400060 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155160 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937871 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	25 warnings · 67 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581159 ms (missed cycles : 4).[0m ×2 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.614ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.152ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951103 ms (missed cycles : 5).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.398ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503153 ms (missed cycles : 4).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.409ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788484961.68862343 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248884 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.940ms + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484962.29482889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 4.11sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072943 ms (missed cycles : 2).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173486 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700996 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.15sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 306 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.70sINFOobjective_server_nodecaller: ×10 + 3.70sINFOobjective_server_nodetype: 0 ×10 + 3.70sINFOobjective_server_nodename: "" ×10 + 3.70sINFOobjective_server_nodeinstance_id: "" ×10 + 3.70sINFOobjective_server_node ×10 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 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 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 5.22sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 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 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[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: "" + 6.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 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 + 6.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 7.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.06sINFOjoint_trajectory_controllerReceived new action goal + 7.06sINFOjoint_trajectory_controllerAccepted new action goal + 7.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 303 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.70sINFOobjective_server_nodecaller: ×10 + 3.70sINFOobjective_server_nodetype: 0 ×10 + 3.70sINFOobjective_server_nodename: "" ×10 + 3.70sINFOobjective_server_nodeinstance_id: "" ×10 + 3.70sINFOobjective_server_node ×10 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 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 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 5.22sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 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 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[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: "" + 6.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 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 + 6.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670653 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_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 5.278174 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695308 ms (missed cycles : 3).[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.15sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941446 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079705 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484605.33387756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484605.34609485 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484605.91886091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484605.92899156 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295239 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484606.50451565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484606.65504384 seconds ×3 + 2.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484607.24276829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484607.28290462 seconds ×3 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577985 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788484607.86317492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278174 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986881 ms (missed cycles : 2).[0m ×2