75
Total objective tests
18
Objectives passed
0
Objectives failed
57
Objectives skipped
21.5s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.1s | 12 errors · 310 warnings · 1526 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/2026-09-08-23-30-40-213565-1979a1abbeda-7464 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.06sINFOstatic_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' + 4.07sINFOstatic_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' + 4.08sINFOstatic_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' + 4.09sINFOstatic_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' + 4.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.21sINFOcontroller_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. + 4.24sINFOcontroller_serverCreating controller server + 4.26sINFOlocal_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. + 4.26sINFOlocal_costmap.local_costmapCreating Costmap + 4.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.32sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.34sINFOsmoother_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. + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.36sINFOsmoother_serverCreating smoother server + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.40sINFOplanner_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. + 4.40sINFOros2_control_node-12process started with pid [7608] ×2 + 4.40sINFOmove_group-24process started with pid [7620] ×2 + 4.40sINFOparameter_manager_node-25process started with pid [7670] ×2 + 4.40sINFOwaypoint_manager_node-26process started with pid [7671] ×2 + 4.40sINFOmove_joint_resampler_node-27process started with pid [7673] ×2 + 4.40sINFOmove_end_effector_resampler_node-28process started with pid [7674] ×2 + 4.40sINFOobjective_server_node_main-29process started with pid [7675] ×2 + 4.40sINFOcomponent_container_mt-30process started with pid [7676] ×2 + 4.40sINFOcomponent_container_mt-31process started with pid [7677] ×2 + 4.40sINFOexecute_objective_bridge-32process started with pid [7680] ×2 + 4.40sINFOui_teleop_bridge-33process started with pid [7683] ×2 + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.43sINFOweb_bridge-34process started with pid [7685] ×2 + 4.43sINFOtf2_web_republisher_node-35process started with pid [7688] ×2 + 4.43sINFOvideo_server-36process started with pid [7693] ×2 + 4.43sINFOweb_bridge_auth_proxy-37process started with pid [7696] ×2 + 4.43sINFOweb_video_auth_proxy-38process started with pid [7699] ×2 + 4.43sINFOcomponent_container_isolated-1process started with pid [7514] ×2 + 4.43sINFOcomponent_container_isolated-2process started with pid [7515] ×2 + 4.43sINFOstatic_transform_publisher-3process started with pid [7516] ×2 + 4.43sINFOstatic_transform_publisher-4process started with pid [7517] ×2 + 4.43sINFOodom_qos_relay.py-5process started with pid [7518] ×2 + 4.43sINFOforward_stereo_publisher.py-6process started with pid [7519] ×2 + 4.43sINFOlidar_flattener.py-7process started with pid [7520] ×2 + 4.43sINFOstatic_transform_publisher-8process started with pid [7521] ×2 + 4.43sINFOstatic_transform_publisher-9process started with pid [7522] ×2 + 4.43sINFOmap_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. + 4.43sINFOmap_serverCreating + 4.43sINFOscan_to_scan_filter_chain-10process started with pid [7606] ×2 + 4.43sINFOscan_to_scan_filter_chain-11process started with pid [7607] ×2 + 4.43sINFOros2-13process started with pid [7609] ×2 + 4.43sINFOros2-14process started with pid [7610] ×2 + 4.43sINFOros2-15process started with pid [7611] ×2 + 4.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.43sINFOros2-16process started with pid [7612] ×2 + 4.44sINFOros2-17process started with pid [7613] ×2 + 4.44sINFOros2-18process started with pid [7614] ×2 + 4.44sINFOros2-19process started with pid [7615] ×2 + 4.44sINFOros2-20process started with pid [7616] ×2 + 4.44sINFOros2-21process started with pid [7617] ×2 + 4.44sINFOros2-22process started with pid [7618] ×2 + 4.44sINFOros2-23process started with pid [7619] ×2 + 4.44sINFOplanner_serverCreating + 4.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.45sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.46sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.46sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.47sINFOglobal_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. + 4.47sINFOglobal_costmap.global_costmapCreating Costmap + 4.48sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.48sINFOcontroller_managerupdate rate is 600 Hz + 4.48sINFOcontroller_managerOverruns handling is : enabled + 4.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.49sWARNcontroller_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. + 4.50sWARNstatic_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 + 4.50sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.50sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268051 ms (missed cycles : 2). + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.53sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.53sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.53sWARNros2_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 + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268051 ms (missed cycles : 2).[0m ×2 + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.56sINFOlifecycle_manager_localizationCreating + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.59sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.61sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.61sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.61sINFOmap_serverConfiguring + 4.64sINFObehavior_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. + 4.68sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.68sINFOamclConfiguring + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.71sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.71sINFOmap_serverActivating + 4.71sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.74sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.74sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.76sINFObt_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. + 4.76sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.76sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.77sINFObt_navigatorCreating + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.80sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.81sINFOwaypoint_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. + 4.82sINFOwaypoint_followerCreating + 4.82sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.82sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.82sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.82sINFOamclActivating + 4.82sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.82sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.83sINFOamclSubscribed to map_topic: /map + 4.84sINFOamclSubscribed to scan_topic: /scan_merged + 4.84sINFOamclCreated reinitialize_global_localization service + 4.84sINFOamclCreated request_nomotion_update service + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOvelocity_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. + 4.85sINFOamclA new map was received + 4.85sINFOamclInitializing particle filter instance + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOvideo_server2026/09/08 23:30:46 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.88sINFOvideo_server2026/09/08 23:30:46 INF configuration loaded from /tmp/moveit-webrtc-laxt9m2u/mediamtx.yml ×2 + 4.88sINFOvideo_server2026/09/08 23:30:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.88sINFOvideo_server2026/09/08 23:30:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.90sINFOlifecycle_manager_navigationCreating + 4.92sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.94sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.94sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.94sINFOcontroller_serverConfiguring controller interface + 4.94sINFOcontroller_servergetting progress checker plugins.. + 4.94sINFOcontroller_servergetting goal checker plugins.. + 4.94sINFOcontroller_serverController frequency set to 20.0000Hz + 4.94sINFOlocal_costmap.local_costmapConfiguring + 4.95sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.96sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.97sINFOrobot_state_publisherRobot initialized + 4.97sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.00sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.00sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.00sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.02sINFOcontroller_managerReceived robot description from topic. + 5.02sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.05sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.05sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.05sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.06sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.07sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.09sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.10sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.10sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.11sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.11sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.11sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.11sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.12sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.12sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.12sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.13sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.13sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.13sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.13sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.14sINFOcontroller_serverOptimizer reset ×2 + 5.16sINFOcontroller_serverController Server has FollowPath controllers available. + 5.18sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.18sINFOsmoother_serverConfiguring smoother server + 5.20sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.20sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.22sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.22sINFOplanner_serverConfiguring + 5.22sINFOglobal_costmap.global_costmapConfiguring + 5.24sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.26sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.26sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.26sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.26sWARNlaser_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. + 5.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.26sWARNscan_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 + 5.26sWARNlaser_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. + 5.26sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.28sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.61469 seconds + 5.28sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.28sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.28sINFOmove_groupLoaded robot model in 0.61469 seconds[0m ×2 + 5.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.28sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.32sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.32sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.36sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.37sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.37sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.38sINFOplanner_serverPlanner Server has GridBased planners available. + 5.42sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.42sINFObehavior_serverConfiguring + 5.43sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.44sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.46sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.46sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.46sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.47sINFObehavior_serverConfiguring spin + 5.48sINFObehavior_serverConfiguring backup + 5.49sINFObehavior_serverConfiguring drive_on_heading + 5.50sINFObehavior_serverConfiguring assisted_teleop + 5.52sINFOamclParticle filter initialization completed + 5.52sINFOamclInitializing particles from estimated pose and covariance + 5.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.52sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.52sINFObehavior_serverConfiguring wait + 5.52sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.52sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.52sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.54sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.54sINFObt_navigatorConfiguring + 5.55sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.56sWARNbt_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830405 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830405 ms (missed cycles : 3).[0m ×2 + 5.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.87sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.87sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.87sWARNmove_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. + 5.87sWARNmove_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. + 5.88sWARNmove_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. + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sWARNmove_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 + 5.88sWARNmove_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 + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sWARNmove_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 + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sWARNmove_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. + 5.88sWARNmove_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. + 5.88sWARNmove_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 + 5.88sWARNmove_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 + 5.92sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.92sINFOwaypoint_followerConfiguring + 5.95sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.95sINFOvelocity_smootherConfiguring velocity smoother + 5.96sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.96sINFOcontroller_serverActivating + 5.96sINFOlocal_costmap.local_costmapActivating + 5.96sINFOlocal_costmap.local_costmapChecking transform + 5.96sINFOlocal_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. ×12 + 6.19sINFOmove_group[2026-09-08 23:30:47.945] [moveit_pro_license] [info] ×2 + 6.19sINFOmove_group************************************************* ×4 + 6.19sINFOmove_group* MoveIt Pro License ×2 + 6.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.23sINFOwaypoint_manager_nodeLoaded robot model in 0.305729 seconds[0m ×2 + 6.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.23sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.46sINFOros2_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 + 6.46sINFOros2_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.54sWARNwaypoint_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. + 6.54sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.55sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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. + 6.55sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.55sWARNwaypoint_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. + 6.55sWARNwaypoint_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. + 6.55sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.55sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.55sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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 + 6.55sWARNwaypoint_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 + 6.56sWARNwaypoint_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 + 6.56sWARNwaypoint_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 + 6.56sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.56sWARNwaypoint_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 + 6.56sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.56sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.56sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.56sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.56sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.56sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.56sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.56sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777113 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777113 ms (missed cycles : 2).[0m ×2 + 6.91sINFOwaypoint_manager_node[2026-09-08 23:30:48.663] [moveit_pro_license] [info] ×2 + 6.91sINFOwaypoint_manager_node************************************************* ×4 + 6.91sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.91sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.22sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.22sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.24sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.24sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.24sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.25sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.25sWARNros2_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 + 7.25sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.25sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.25sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.25sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.25sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.25sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.25sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.25sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.25sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.25sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.25sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.25sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.25sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.25sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.25sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.25sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.25sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.25sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.25sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.25sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.25sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.25sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.25sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.38sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.40sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.40sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.40sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.41sINFOstreaming_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) + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.41sINFOcomponent_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 + 7.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.41sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.49sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.49sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.50sINFOros2_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 + 7.50sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.50sWARNros2_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 + 7.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 7.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 7.53sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 7.54sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 7.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 7.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 7.54sINFOobjective_server_node[2026-09-08 23:30:49.294] [moveit_pro_license] [info] ×2 + 7.54sINFOobjective_server_node************************************************* ×4 + 7.54sINFOobjective_server_node* MoveIt Pro License ×2 + 7.54sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.54sINFOplatform_velocity_controllerconfigure successful + 7.54sINFOros2_control_nodeconfigure successful[0m ×6 + 7.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 7.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 7.55sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.55sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 7.55sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 7.61sINFOobjective_server_nodeLoaded robot model in 0.0245026 seconds[0m ×2 + 7.61sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.61sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.61sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.63sINFOstreaming_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) + 7.63sINFOcomponent_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 + 7.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790627 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790627 ms (missed cycles : 2).[0m ×2 + 7.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.85sWARNcomponent_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 + 7.89sINFOros2-16process has finished cleanly [pid 7612] ×2 + 7.96sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 7.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 8.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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. + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.00sWARNobjective_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 + 8.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.09sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.11sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.11sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.21sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.21sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.22sINFOcomponent_container_mtLoaded robot model in 0.375229 seconds[0m ×2 + 8.22sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.22sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.31sINFOmove_groupMoveGroup debug mode is ON + 8.31sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.35sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.35sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.35sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.35sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.36sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.45sINFOmove_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
********************************************************
+ 8.45sINFOmove_group ×8 + 8.45sINFOmove_group******************************************************** ×4 + 8.45sINFOmove_group* MoveGroup using: ×2 + 8.45sINFOmove_group* - apply_planning_scene_service ×2 + 8.45sINFOmove_group* - clear_octomap_service ×2 + 8.45sINFOmove_group* - get_group_urdf ×2 + 8.45sINFOmove_group* - load_geometry_from_file ×2 + 8.45sINFOmove_group* - get_planning_scene_service ×2 + 8.45sINFOmove_group* - kinematics_service ×2 + 8.45sINFOmove_group* - save_geometry_to_file ×2 + 8.45sINFOmove_group* - GetPlanningGroups ×2 + 8.45sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.45sINFOmove_group[0m ×2 + 8.45sINFOmove_group[92mYou can start planning now![0m ×2 + 8.46sINFOros2_control_node[2026-09-08 23:30:50.211] [info] Controller state will be published at 20 Hz. ×2 + 8.46sINFOros2_control_node[2026-09-08 23:30:50.212] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.59sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.59sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.76sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.76sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.76sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.76sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.77sINFOcomponent_container_mt[2026-09-08 23:30:50.528] [moveit_pro_license] [info] ×2 + 8.77sINFOcomponent_container_mt************************************************* ×4 + 8.77sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.77sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.80sINFOros2-22process has finished cleanly [pid 7618] ×2 + 8.84sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 8.84sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690231 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690231 ms (missed cycles : 2).[0m ×2 + 8.89sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.89sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.89sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.09sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.09sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.21sINFOros2_control_node[2026-09-08 23:30:50.965] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.21sINFOros2_control_node[2026-09-08 23:30:50.968] [info] Controller state will be published at 10 Hz. ×2 + 9.22sINFOros2_control_node[2026-09-08 23:30:50.969] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.22sWARNros2_control_nodeCamera render tick took 0.91 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.25sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.25sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.26sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.26sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.32sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.53sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 9.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 9.55sINFOros2-21process has finished cleanly [pid 7617] ×2 + 9.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.62sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.62sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.62sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.62sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.62sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.90sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.90sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.90sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.90sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.90sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 9.90sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285197 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285197 ms (missed cycles : 2).[0m ×2 + 9.93sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.93sINFOros2-19process has finished cleanly [pid 7615] ×2 + 9.95sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.95sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.95sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.95sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.95sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.96sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.96sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.96sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.96sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.26sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.26sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.26sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.26sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 10.26sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 10.27sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788910250.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.29sINFOros2-17process has finished cleanly [pid 7613] ×2 + 10.31sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.31sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.31sINFOplatform_velocity_controller_nav2configure successful + 10.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 10.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 10.67sINFOros2-18process has finished cleanly [pid 7614] ×2 + 10.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOforce_torque_sensor_broadcasterconfigure successful + 10.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771909 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771909 ms (missed cycles : 2).[0m ×2 + 11.02sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.02sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.02sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.02sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 11.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 11.04sINFOros2-13process has finished cleanly [pid 7609] ×2 + 11.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 11.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 11.44sINFOros2-14process has finished cleanly [pid 7610] ×2 + 11.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.80sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.80sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.80sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 11.80sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.80sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 11.83sINFOros2-15process has finished cleanly [pid 7611] ×2 + 11.84sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.84sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.84sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.96sINFOlocal_costmap.local_costmapstart + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944663 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944663 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_serverParameter controller_server.verbose not found + 12.07sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.17sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.17sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.17sINFOsmoother_serverActivating + 12.17sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.22sINFOros2_control_node[2026-09-08 23:30:53.978] [info] Controller state will be published at 20 Hz. ×2 + 12.22sINFOros2_control_node[2026-09-08 23:30:53.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.28sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.28sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.28sINFOplanner_serverActivating + 12.28sINFOglobal_costmap.global_costmapActivating + 12.28sINFOglobal_costmap.global_costmapChecking transform + 12.28sINFOglobal_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. + 12.32sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 7.072ms + 12.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg + 12.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hh00dxun --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_31lze3em --params-file /tmp/launch_params_zi2dkxyg [0m ×2 + 12.56sINFOros2-23process has finished cleanly [pid 7619] ×2 + 12.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.61sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.78sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788910254.484737, but only time 1788910254.559737 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788910253.037 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.96sINFOros2_control_node[2026-09-08 23:30:54.716] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.97sINFOros2_control_node[2026-09-08 23:30:54.718] [info] Controller state will be published at 10 Hz. ×2 + 12.97sINFOros2_control_node[2026-09-08 23:30:54.719] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.02sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.02sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 13.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 13.04sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 13.04sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952721 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952721 ms (missed cycles : 2).[0m ×2 + 13.28sINFOglobal_costmap.global_costmapstart + 13.28sINFOros2-20process has finished cleanly [pid 7616] ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518090 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518090 ms (missed cycles : 2).[0m ×2 + 14.33sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.33sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.43sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.43sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.44sINFObehavior_serverActivating + 14.44sINFObehavior_serverActivating spin + 14.44sINFObehavior_serverActivating backup + 14.44sINFObehavior_serverActivating drive_on_heading + 14.44sINFObehavior_serverActivating assisted_teleop + 14.44sINFObehavior_serverActivating wait + 14.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.54sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.54sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.54sINFObt_navigatorActivating + 14.60sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.71sINFOwaypoint_followerActivating + 14.71sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.81sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.81sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.81sINFOvelocity_smootherActivating + 14.81sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 17.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 18.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.15sINFOobjective_server_nodecaller: ×10 + 18.15sINFOobjective_server_nodetype: 0 ×10 + 18.15sINFOobjective_server_nodename: "" ×10 + 18.15sINFOobjective_server_nodeinstance_id: "" ×10 + 18.15sINFOobjective_server_node ×10 + 18.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.19sINFOmove_groupClearing octomap...[0m ×2 + 18.19sINFOmove_groupOctomap cleared.[0m ×2 + 18.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 18.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 19.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 20.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.11sINFOobjective_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 + 20.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 20.11sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 20.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 20.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 64.7s | 3 errors · 279 warnings · 261 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.353ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987835 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987835 ms (missed cycles : 2).[0m ×2 + 0.49sWARNros2_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 ×12 + 0.51sWARNros2_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 ×10 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.427ms + 1.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.145ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956547 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956547 ms (missed cycles : 2).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.876ms + 2.05sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 9.694ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819764 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819764 ms (missed cycles : 2).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 5.059ms + 2.97sINFOobjective_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 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788910469.91087818 seconds ×3 + 3.02sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.171ms + 3.02sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485832 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485832 ms (missed cycles : 4).[0m ×2 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788910470.49359465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.965ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758938 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758938 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175690 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175690 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218690 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218690 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797662 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797662 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.906ms + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241177 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241177 ms (missed cycles : 2).[0m ×2 + 9.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.772ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492733 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492733 ms (missed cycles : 2).[0m ×2 + 10.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.860ms + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.998ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107847 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107847 ms (missed cycles : 2).[0m ×2 + 11.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 11.20sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 6.999ms + 11.71sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.687ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297906 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297906 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.997ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998030 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998030 ms (missed cycles : 3).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782938 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782938 ms (missed cycles : 2).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 14.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560467 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560467 ms (missed cycles : 3).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815212 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815212 ms (missed cycles : 2).[0m ×2 + 16.26sWARNros2_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 ×6 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164861 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164861 ms (missed cycles : 2).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355629 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355629 ms (missed cycles : 2).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635381 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635381 ms (missed cycles : 2).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111939 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111939 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776100 ms (missed cycles : 3). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776100 ms (missed cycles : 3).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066471 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066471 ms (missed cycles : 2).[0m ×2 + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082117 ms (missed cycles : 3). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082117 ms (missed cycles : 3).[0m ×2 + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808201 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808201 ms (missed cycles : 3).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069378 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069378 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.943ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966852 ms (missed cycles : 3). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966852 ms (missed cycles : 3).[0m ×2 + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418600 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418600 ms (missed cycles : 2).[0m ×2 + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276868 ms (missed cycles : 3). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276868 ms (missed cycles : 3).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298214 ms (missed cycles : 3). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298214 ms (missed cycles : 3).[0m ×2 + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730813 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730813 ms (missed cycles : 3).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 31.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762569 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762569 ms (missed cycles : 3).[0m ×2 + 32.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 32.94sWARNros2_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 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046792 ms (missed cycles : 4). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046792 ms (missed cycles : 4).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.358ms + 34.25sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.25sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821073 ms (missed cycles : 3). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821073 ms (missed cycles : 3).[0m ×2 + 34.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263279 ms (missed cycles : 2). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263279 ms (missed cycles : 2).[0m ×2 + 35.56sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042334 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042334 ms (missed cycles : 2).[0m ×2 + 37.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744578 ms (missed cycles : 3). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744578 ms (missed cycles : 3).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097799 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097799 ms (missed cycles : 2).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207778 ms (missed cycles : 2). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207778 ms (missed cycles : 2).[0m ×2 + 39.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 40.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810897 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810897 ms (missed cycles : 2).[0m ×2 + 41.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008456 ms (missed cycles : 4). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008456 ms (missed cycles : 4).[0m ×2 + 42.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655785 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655785 ms (missed cycles : 3).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966431 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966431 ms (missed cycles : 2).[0m ×2 + 44.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690007 ms (missed cycles : 2). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690007 ms (missed cycles : 2).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284116 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284116 ms (missed cycles : 2).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830978 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830978 ms (missed cycles : 3).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555704 ms (missed cycles : 2). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555704 ms (missed cycles : 2).[0m ×2 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612912 ms (missed cycles : 3). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612912 ms (missed cycles : 3).[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167063 ms (missed cycles : 4). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167063 ms (missed cycles : 4).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450463 ms (missed cycles : 3). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450463 ms (missed cycles : 3).[0m ×2 + 52.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188953 ms (missed cycles : 2). + 52.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188953 ms (missed cycles : 2).[0m ×2 + 53.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164608 ms (missed cycles : 4). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164608 ms (missed cycles : 4).[0m ×2 + 54.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300294 ms (missed cycles : 3). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300294 ms (missed cycles : 3).[0m ×2 + 55.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118939 ms (missed cycles : 2). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118939 ms (missed cycles : 2).[0m ×2 + 56.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696593 ms (missed cycles : 2). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696593 ms (missed cycles : 2).[0m ×2 + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515519 ms (missed cycles : 3). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515519 ms (missed cycles : 3).[0m ×2 + 58.32sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 59.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773616 ms (missed cycles : 2). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773616 ms (missed cycles : 2).[0m ×2 + 60.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152322 ms (missed cycles : 2). + 60.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152322 ms (missed cycles : 2).[0m ×2 + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742874 ms (missed cycles : 2). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742874 ms (missed cycles : 2).[0m ×2 + 62.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175275 ms (missed cycles : 2). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175275 ms (missed cycles : 2).[0m ×2 + 62.68sWARNros2_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 + 63.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767660 ms (missed cycles : 3). + 63.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767660 ms (missed cycles : 3).[0m ×2 + 64.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 64.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880588 ms (missed cycles : 2). + 64.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880588 ms (missed cycles : 2).[0m ×2 + 65.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116158 ms (missed cycles : 2). + 65.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116158 ms (missed cycles : 2).[0m ×2 + 66.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 66.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922640 ms (missed cycles : 2). + 66.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922640 ms (missed cycles : 2).[0m ×2 + 67.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 67.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788910534.62375522 seconds ×3 + 67.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393890 ms (missed cycles : 3). + 67.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393890 ms (missed cycles : 3).[0m ×2 + 67.82sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 67.82sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 67.92sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.92sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.27sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788910535.19897580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 68.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854680 ms (missed cycles : 2). + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854680 ms (missed cycles : 2).[0m ×2 + 69.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475657 ms (missed cycles : 2). + 69.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475657 ms (missed cycles : 2).[0m ×2 + 70.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695751 ms (missed cycles : 3). + 70.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695751 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 226 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2).[0m ×2 + 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: 1788910311.56308317 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 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 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788910312.13698459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.60sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.689ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.10sWARNros2_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 ×6 + 4.12sWARNros2_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 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710399 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710399 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509994 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509994 ms (missed cycles : 2).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 3.118ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367632 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367632 ms (missed cycles : 2).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.958ms + 9.77sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.848ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586705 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586705 ms (missed cycles : 3).[0m ×2 + 10.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.366ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029980 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029980 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861749 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861749 ms (missed cycles : 2).[0m ×2 + 12.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 12.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701196 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701196 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843677 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843677 ms (missed cycles : 2).[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238559 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238559 ms (missed cycles : 2).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987933 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987933 ms (missed cycles : 2).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269147 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269147 ms (missed cycles : 2).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 17.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×8 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775067 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775067 ms (missed cycles : 2).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141263 ms (missed cycles : 4). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141263 ms (missed cycles : 4).[0m ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494495 ms (missed cycles : 4). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494495 ms (missed cycles : 4).[0m ×2 + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278725 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278725 ms (missed cycles : 2).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008722 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008722 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359951 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359951 ms (missed cycles : 3).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790465 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790465 ms (missed cycles : 2).[0m ×2 + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971623 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971623 ms (missed cycles : 2).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861340 ms (missed cycles : 4). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861340 ms (missed cycles : 4).[0m ×2 + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801580 ms (missed cycles : 2). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801580 ms (missed cycles : 2).[0m ×2 + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 27.96sWARNros2_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 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037109 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037109 ms (missed cycles : 4).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395267 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395267 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860969 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860969 ms (missed cycles : 2).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 31.00sWARNros2_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 ×4 + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259913 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259913 ms (missed cycles : 2).[0m ×2 + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959561 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959561 ms (missed cycles : 2).[0m ×2 + 33.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501309 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501309 ms (missed cycles : 2).[0m ×2 + 34.30sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815768 ms (missed cycles : 3). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815768 ms (missed cycles : 3).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658600 ms (missed cycles : 3). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658600 ms (missed cycles : 3).[0m ×2 + 36.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411806 ms (missed cycles : 4). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411806 ms (missed cycles : 4).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217796 ms (missed cycles : 4). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217796 ms (missed cycles : 4).[0m ×2 + 38.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186815 ms (missed cycles : 2). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186815 ms (missed cycles : 2).[0m ×2 + 39.29sWARNros2_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 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098891 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098891 ms (missed cycles : 2).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464503 ms (missed cycles : 3). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464503 ms (missed cycles : 3).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287841 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287841 ms (missed cycles : 4).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934720 ms (missed cycles : 3). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934720 ms (missed cycles : 3).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631353 ms (missed cycles : 2). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631353 ms (missed cycles : 2).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025289 ms (missed cycles : 4). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025289 ms (missed cycles : 4).[0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936228 ms (missed cycles : 4). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936228 ms (missed cycles : 4).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659089 ms (missed cycles : 3). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659089 ms (missed cycles : 3).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555555 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555555 ms (missed cycles : 2).[0m ×2 + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588863 ms (missed cycles : 2). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588863 ms (missed cycles : 2).[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131537 ms (missed cycles : 2). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131537 ms (missed cycles : 2).[0m ×2 + 51.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930026 ms (missed cycles : 2). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930026 ms (missed cycles : 2).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094280 ms (missed cycles : 3). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094280 ms (missed cycles : 3).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805862 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805862 ms (missed cycles : 2).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911611 ms (missed cycles : 2). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911611 ms (missed cycles : 2).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925146 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925146 ms (missed cycles : 2).[0m ×2 + 57.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 57.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 58.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 59.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 59.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 59.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 60.07sWARNlocal_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. ×4 + 60.07sWARNlocal_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. ×4 + 60.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 60.88sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 61.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 62.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 63.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.8s | 238 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.21sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.18sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.18sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226513 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226513 ms (missed cycles : 3).[0m ×2 + 7.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541074 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541074 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.600ms + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.148ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496245 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496245 ms (missed cycles : 3).[0m ×2 + 10.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 10.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.565ms + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.048ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254483 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254483 ms (missed cycles : 3).[0m ×2 + 11.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.990ms + 11.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.881ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206676 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206676 ms (missed cycles : 2).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.025ms + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797266 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797266 ms (missed cycles : 2).[0m ×2 + 13.00sWARNros2_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 ×10 + 13.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms + 13.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.459ms + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039675 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039675 ms (missed cycles : 2).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 14.60sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 8.028ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095756 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095756 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 5.673ms + 15.62sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 4.100ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368042 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368042 ms (missed cycles : 2).[0m ×2 + 16.14sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 3.647ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670132 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670132 ms (missed cycles : 2).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516113 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516113 ms (missed cycles : 3).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092443 ms (missed cycles : 3). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092443 ms (missed cycles : 3).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892605 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892605 ms (missed cycles : 3).[0m ×2 + 20.25sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863613 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863613 ms (missed cycles : 2).[0m ×2 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869216 ms (missed cycles : 2). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869216 ms (missed cycles : 2).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130736 ms (missed cycles : 3). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130736 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952469 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952469 ms (missed cycles : 2).[0m ×2 + 25.57sWARNros2_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 ×8 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352153 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352153 ms (missed cycles : 2).[0m ×2 + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810298 ms (missed cycles : 4). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810298 ms (missed cycles : 4).[0m ×2 + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733928 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733928 ms (missed cycles : 2).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575883 ms (missed cycles : 2). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575883 ms (missed cycles : 2).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292929 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292929 ms (missed cycles : 2).[0m ×2 + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150308 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150308 ms (missed cycles : 2).[0m ×2 + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.305ms + 33.59sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875904 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875904 ms (missed cycles : 2).[0m ×2 + 34.52sWARNros2_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 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271646 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271646 ms (missed cycles : 4).[0m ×2 + 36.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398077 ms (missed cycles : 2). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398077 ms (missed cycles : 2).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752093 ms (missed cycles : 3). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752093 ms (missed cycles : 3).[0m ×2 + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187729 ms (missed cycles : 2). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187729 ms (missed cycles : 2).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061199 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061199 ms (missed cycles : 2).[0m ×2 + 40.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530841 ms (missed cycles : 2). + 40.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530841 ms (missed cycles : 2).[0m ×2 + 40.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723145 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723145 ms (missed cycles : 2).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726723 ms (missed cycles : 2). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726723 ms (missed cycles : 2).[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337313 ms (missed cycles : 3). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337313 ms (missed cycles : 3).[0m ×2 + 44.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567201 ms (missed cycles : 3). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567201 ms (missed cycles : 3).[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457434 ms (missed cycles : 3). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457434 ms (missed cycles : 3).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850535 ms (missed cycles : 2). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850535 ms (missed cycles : 2).[0m ×2 + 47.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198992 ms (missed cycles : 4). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198992 ms (missed cycles : 4).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884437 ms (missed cycles : 3). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884437 ms (missed cycles : 3).[0m ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585579 ms (missed cycles : 4). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585579 ms (missed cycles : 4).[0m ×2 + 50.19sWARNros2_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 + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520810 ms (missed cycles : 3). + 50.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520810 ms (missed cycles : 3).[0m ×2 + 51.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 51.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263750 ms (missed cycles : 4). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263750 ms (missed cycles : 4).[0m ×2 + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761763 ms (missed cycles : 3). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761763 ms (missed cycles : 3).[0m ×2 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849628 ms (missed cycles : 3). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849628 ms (missed cycles : 3).[0m ×2 + 54.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460286 ms (missed cycles : 3). + 55.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460286 ms (missed cycles : 3).[0m ×2 + 56.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731171 ms (missed cycles : 2). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731171 ms (missed cycles : 2).[0m ×2 + 57.04sWARNros2_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 + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987679 ms (missed cycles : 2). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987679 ms (missed cycles : 2).[0m ×2 + 58.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891901 ms (missed cycles : 2). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891901 ms (missed cycles : 2).[0m ×2 + 59.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 59.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788910597.91881537 seconds ×3 + 59.21sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.21sWARNlocal_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. ×4 + 59.61sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.61sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 59.65sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769079 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769079 ms (missed cycles : 3).[0m ×2 + 59.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788910598.50133801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.04sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 60.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.223ms + 60.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322944 ms (missed cycles : 2). + 60.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322944 ms (missed cycles : 2).[0m ×2 + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682209 ms (missed cycles : 3). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682209 ms (missed cycles : 3).[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624949 ms (missed cycles : 3). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624949 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.1s | 235 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.04sWARNros2_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 ×6 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×6 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.87sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788910407.13208365 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788910407.70861316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.521ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.80sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.80sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218850 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218850 ms (missed cycles : 2).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.910ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834305 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834305 ms (missed cycles : 2).[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.938ms + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.982ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288605 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288605 ms (missed cycles : 4).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152095 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152095 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.348ms + 11.48sWARNros2_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 ×10 + 11.50sWARNros2_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 + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.976ms + 12.00sINFOamclParticle filter update iteration stats: 3034 particles 723 points - 6.380ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960489 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960489 ms (missed cycles : 2).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 4.014ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449866 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449866 ms (missed cycles : 2).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810773 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810773 ms (missed cycles : 2).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090436 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090436 ms (missed cycles : 2).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858239 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858239 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 16.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018926 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018926 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605000 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605000 ms (missed cycles : 3).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 19.02sWARNros2_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 ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739685 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739685 ms (missed cycles : 2).[0m ×2 + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763010 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763010 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632974 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632974 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548165 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548165 ms (missed cycles : 3).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685124 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685124 ms (missed cycles : 2).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511078 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511078 ms (missed cycles : 2).[0m ×2 + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985832 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985832 ms (missed cycles : 3).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671376 ms (missed cycles : 2). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671376 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183245 ms (missed cycles : 3). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183245 ms (missed cycles : 3).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089754 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089754 ms (missed cycles : 3).[0m ×2 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815320 ms (missed cycles : 3). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815320 ms (missed cycles : 3).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274197 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274197 ms (missed cycles : 3).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154959 ms (missed cycles : 2). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154959 ms (missed cycles : 2).[0m ×2 + 33.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865966 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865966 ms (missed cycles : 3).[0m ×2 + 34.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769631 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769631 ms (missed cycles : 3).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117643 ms (missed cycles : 2). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117643 ms (missed cycles : 2).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776715 ms (missed cycles : 4). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776715 ms (missed cycles : 4).[0m ×2 + 37.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 38.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701907 ms (missed cycles : 3). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701907 ms (missed cycles : 3).[0m ×2 + 38.68sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930346 ms (missed cycles : 3). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930346 ms (missed cycles : 3).[0m ×2 + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806112 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806112 ms (missed cycles : 2).[0m ×2 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739844 ms (missed cycles : 3). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739844 ms (missed cycles : 3).[0m ×2 + 42.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 42.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126880 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126880 ms (missed cycles : 2).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149447 ms (missed cycles : 4). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149447 ms (missed cycles : 4).[0m ×2 + 44.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883248 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883248 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614699 ms (missed cycles : 4). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614699 ms (missed cycles : 4).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934987 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934987 ms (missed cycles : 3).[0m ×2 + 47.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626279 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626279 ms (missed cycles : 2).[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227455 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227455 ms (missed cycles : 2).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 49.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089165 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089165 ms (missed cycles : 2).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 51.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809703 ms (missed cycles : 2). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809703 ms (missed cycles : 2).[0m ×2 + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079887 ms (missed cycles : 4). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079887 ms (missed cycles : 4).[0m ×2 + 52.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336953 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336953 ms (missed cycles : 3).[0m ×2 + 53.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 53.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.371ms + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836176 ms (missed cycles : 4). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836176 ms (missed cycles : 4).[0m ×2 + 55.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788910459.25874758 seconds ×3 + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490266 ms (missed cycles : 2). + 55.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490266 ms (missed cycles : 2).[0m ×2 + 55.49sWARNlocal_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. ×5 + 55.49sWARNlocal_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. ×5 + 55.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.61sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788910459.83465433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.604ms + 56.00sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050709 ms (missed cycles : 3). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050709 ms (missed cycles : 3).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688357 ms (missed cycles : 2). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688357 ms (missed cycles : 2).[0m ×2 + 58.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690280 ms (missed cycles : 2). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690280 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 143 warnings · 383 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.86sINFOobjective_server_nodecaller: ×12 + 0.86sINFOobjective_server_nodetype: 0 ×12 + 0.86sINFOobjective_server_nodename: "" ×12 + 0.86sINFOobjective_server_nodeinstance_id: "" ×12 + 0.86sINFOobjective_server_node ×12 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.90sINFOmove_groupClearing octomap...[0m ×2 + 0.90sINFOmove_groupOctomap cleared.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 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 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553867 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553867 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.603ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772445 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772445 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397457 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397457 ms (missed cycles : 2).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885527 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885527 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348501 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348501 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649177 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649177 ms (missed cycles : 2).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318986 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318986 ms (missed cycles : 2).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764478 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764478 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134039 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134039 ms (missed cycles : 2).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209855 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209855 ms (missed cycles : 2).[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956307 ms (missed cycles : 2). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956307 ms (missed cycles : 2).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197451 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197451 ms (missed cycles : 2).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862911 ms (missed cycles : 2). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862911 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537011 ms (missed cycles : 3). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537011 ms (missed cycles : 3).[0m ×2 + 22.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672258 ms (missed cycles : 2). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672258 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438478 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438478 ms (missed cycles : 3).[0m ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859826 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859826 ms (missed cycles : 2).[0m ×2 + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194058 ms (missed cycles : 2). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194058 ms (missed cycles : 2).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855400 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855400 ms (missed cycles : 2).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033729 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033729 ms (missed cycles : 2).[0m ×2 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760239 ms (missed cycles : 2). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760239 ms (missed cycles : 2).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963945 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963945 ms (missed cycles : 3).[0m ×2 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965819 ms (missed cycles : 2). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965819 ms (missed cycles : 2).[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799759 ms (missed cycles : 3). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799759 ms (missed cycles : 3).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182529 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182529 ms (missed cycles : 2).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699732 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699732 ms (missed cycles : 2).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234861 ms (missed cycles : 2). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234861 ms (missed cycles : 2).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855661 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855661 ms (missed cycles : 2).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166992 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166992 ms (missed cycles : 2).[0m ×2 + 38.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448783 ms (missed cycles : 2). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448783 ms (missed cycles : 2).[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797493 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797493 ms (missed cycles : 2).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599173 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599173 ms (missed cycles : 2).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347194 ms (missed cycles : 3). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347194 ms (missed cycles : 3).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3).[0m ×2 + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2).[0m ×2 + 46.45sINFOjoint_trajectory_controllerGoal reached, success! + 46.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788910305.53789449 seconds ×3 + 46.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.51sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.51sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 47.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.03sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788910306.11295176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3).[0m ×2 + 48.08sINFOobjective_server_nodeFound path in 0 iterations (2.1248e-05 s). ×2 + 48.14sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2).[0m ×2 + 49.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 49.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.2s | 140 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994140 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994140 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831780 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831780 ms (missed cycles : 3).[0m ×2 + 1.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.93sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788910374.88607621 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170458 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170458 ms (missed cycles : 2).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168003 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168003 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788910376.46193647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191652 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191652 ms (missed cycles : 3).[0m ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743276 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743276 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554109 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554109 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177498 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177498 ms (missed cycles : 2).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378564 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378564 ms (missed cycles : 2).[0m ×2 + 9.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.827ms + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931302 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931302 ms (missed cycles : 2).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.199ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088554 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088554 ms (missed cycles : 2).[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.077ms + 11.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.542ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026325 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026325 ms (missed cycles : 2).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.308ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780580 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780580 ms (missed cycles : 2).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 13.69sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 6.715ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985037 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985037 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.889ms + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.807ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496823 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496823 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054568 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054568 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325879 ms (missed cycles : 4). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325879 ms (missed cycles : 4).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885638 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885638 ms (missed cycles : 2).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776895 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776895 ms (missed cycles : 2).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 20.27sWARNros2_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 ×4 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159433 ms (missed cycles : 2). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159433 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708881 ms (missed cycles : 3). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708881 ms (missed cycles : 3).[0m ×2 + 21.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957802 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957802 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463496 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463496 ms (missed cycles : 2).[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457178 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457178 ms (missed cycles : 2).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724612 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724612 ms (missed cycles : 3).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873605 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873605 ms (missed cycles : 3).[0m ×2 + 27.03sWARNros2_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 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091083 ms (missed cycles : 2). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091083 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 28.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466275 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466275 ms (missed cycles : 2).[0m ×2 + 29.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648161 ms (missed cycles : 3). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648161 ms (missed cycles : 3).[0m ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 32.31sWARNros2_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 + 32.33sWARNros2_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 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3).[0m ×2 + 34.18sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788910407.13208365 seconds ×3 + 34.26sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.26sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2).[0m ×2 + 34.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788910407.70861316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.521ms + 35.13sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.9s | 91 warnings · 238 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731171 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987679 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987679 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891901 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891901 ms (missed cycles : 2).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788910597.91881537 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sWARNlocal_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. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.30sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.31sINFOobjective_server_nodecaller: ×6 + 3.31sINFOobjective_server_nodetype: 0 ×6 + 3.31sINFOobjective_server_nodename: "" ×6 + 3.31sINFOobjective_server_nodeinstance_id: "" ×6 + 3.31sINFOobjective_server_node ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769079 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769079 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788910598.50133801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.223ms + 3.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322944 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322944 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682209 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682209 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624949 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624949 ms (missed cycles : 3).[0m ×2 + 6.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289572 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289572 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523031 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523031 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565788 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565788 ms (missed cycles : 2).[0m ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 10.35sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433747 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433747 ms (missed cycles : 2).[0m ×2 + 10.68sWARNros2_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 + 10.79sINFOobjective_server_nodeFound path in 33 iterations (0.0413406 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864722 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864722 ms (missed cycles : 2).[0m ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.64sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134259 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134259 ms (missed cycles : 2).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665744 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665744 ms (missed cycles : 3).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.644ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992643 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992643 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.034ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.100ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.789ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2).[0m ×2 + 18.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788910613.77681112 seconds ×3 + 19.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788910614.39331079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.26sINFOmove_groupClearing octomap...[0m ×2 + 19.26sINFOmove_groupOctomap cleared.[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2).[0m ×2 + 19.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788910614.84343958 seconds ×3 + 20.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788910615.41051030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3).[0m ×2 + 21.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788910616.27063870 seconds ×3 + 21.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 21.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 108 errors · 34 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.100ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.789ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2).[0m ×2 + 1.67sINFOjoint_trajectory_controllerGoal reached, success! + 1.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788910613.77681112 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788910614.39331079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788910614.84343958 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788910615.41051030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788910616.27063870 seconds ×3 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467784 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467784 ms (missed cycles : 2).[0m ×2 + 6.98sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357585 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357585 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230163 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230163 ms (missed cycles : 2).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943306 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943306 ms (missed cycles : 3).[0m ×2 + 10.30sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286244 ms (missed cycles : 2). + 10.30sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORweb_video_auth_proxy-38process has died [pid 7699, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.31sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286244 ms (missed cycles : 2).[0m ×2 + 10.34sERRORweb_bridge_auth_proxy-37process has died [pid 7696, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.34sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.35sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.36sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.37sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.37sINFOvideo_server-36process has finished cleanly [pid 7693] ×2 + 10.38sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.39sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.40sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.41sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.42sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.43sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.44sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.46sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.47sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.48sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.48sINFOcontroller_managerShutdown request received.... + 10.48sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.48sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.48sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.48sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.48sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.48sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.48sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.48sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.48sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.48sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.48sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.48sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.48sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.48sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerShutting down the controller manager. + 10.49sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.50sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.51sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.51sERRORmove_group-24process has died [pid 7620, 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_rp4mu6q2 --params-file /tmp/launch_params_w4iagh2p --params-file /tmp/launch_params_ypydqifk --params-file /tmp/launch_params_uvd07ybo --params-file /tmp/launch_params_5i_uahts --params-file /tmp/launch_params_8gmh8p77']. ×2 + 10.52sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.53sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.54sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.55sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.56sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.57sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.57sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.57sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.57sINFOmap_serverDeactivating + 10.57sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.58sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.58sINFOcontroller_serverDeactivating + 10.58sINFOlocal_costmap.local_costmapDeactivating + 10.58sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.58sINFOvideo_server2026/09/08 23:37:02 INF shutting down gracefully ×2 + 10.58sINFOvideo_server2026/09/08 23:37:02 INF [WebRTC] closing ×2 + 10.58sINFOvideo_server2026/09/08 23:37:02 INF [RTSP] closing ×2 + 10.58sINFOvideo_server2026/09/08 23:37:02 INF waiting for running hooks ×2 + 10.58sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.58sINFOmap_serverCleaning up + 10.58sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.58sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.58sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.58sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.59sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.59sERRORmove_groupStack trace (most recent call last) in thread 8290: ×2 + 10.59sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.59sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa991198a63, in __clone ×2 + 10.59sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa99110baa3, in ×2 + 10.59sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa99139ddb3, in ×2 + 10.59sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fa991b02a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.59sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa99172f620, in rclcpp::Rate::sleep() ×2 + 10.59sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa991671d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.59sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa991633087, in ×2 + 10.59sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa99136c390, in __cxa_throw ×2 + 10.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa991356a54, in std::terminate() ×2 + 10.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa99136c0d9, in ×2 + 10.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa991356ff4, in ×2 + 10.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9910978fe, in abort ×2 + 10.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9910b427d, in raise ×2 + 10.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa99110db2c, in pthread_kill ×2 + 10.59sERRORmove_groupAborted (Signal sent by tkill() 7620 0) ×2 + 10.59sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.59sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.59sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.59sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.59sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.59sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.59sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.59sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.59sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.59sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.59sINFOodom_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 + 10.59sINFOodom_qos_relay.pymain() ×2 + 10.59sINFOodom_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 + 10.59sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.59sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.59sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.59sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.59sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.59sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.59sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.59sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.59sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.60sERRORamclThe bond connection to the lifecycle manager has been broken + 10.63sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.64sINFOcontroller_serverCleaning up + 10.64sINFOlocal_costmap.local_costmapCleaning up + 10.69sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.69sINFOsmoother_serverDeactivating + 10.69sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.70sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.70sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.70sINFOsmoother_serverCleaning up + 10.72sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.72sINFOplanner_serverDeactivating + 10.72sINFOglobal_costmap.global_costmapDeactivating + 10.77sWARNros2_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 ×2 + 10.79sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.79sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.79sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.79sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.79sINFOvelocity_smootherDeactivating + 10.79sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.90sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.90sINFOwaypoint_followerDeactivating + 10.90sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.95sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.95sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.96sINFOplanner_serverCleaning up + 10.98sINFOglobal_costmap.global_costmapCleaning up + 10.99sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.99sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.01sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.01sINFObt_navigatorDeactivating + 11.01sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.02sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.02sINFObehavior_serverDeactivating + 11.02sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.03sINFObehavior_serverCleaning up + 11.03sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.03sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.03sINFOwaypoint_followerCleaning up + 11.04sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.04sINFOvelocity_smootherCleaning up + 11.04sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.13sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.13sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.13sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.13sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.13sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.14sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.15sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.15sINFObt_navigatorCleaning up + 11.34sINFObt_navigatorCompleted Cleaning up + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.34sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.34sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.34sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.34sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.41sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7688] ×2 + 11.42sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.48sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7674] ×2 + 11.48sINFOui_teleop_bridge-33process has finished cleanly [pid 7683] ×2 + 11.49sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7673] ×2 + 11.50sINFOexecute_objective_bridge-32process has finished cleanly [pid 7680] ×2 + 11.51sINFOcomponent_container_mt-31process has finished cleanly [pid 7677] ×2 + 11.53sINFOparameter_manager_node-25process has finished cleanly [pid 7670] ×2 + 11.54sINFOwaypoint_manager_node-26process has finished cleanly [pid 7671] ×2 + 11.54sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7607] ×2 + 11.55sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7606] ×2 + 11.56sINFOstatic_transform_publisher-9process has finished cleanly [pid 7522] ×2 + 11.57sINFOstatic_transform_publisher-8process has finished cleanly [pid 7521] ×2 + 11.57sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.57sINFOlidar_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 + 11.57sINFOlidar_flattener.pymain() ×2 + 11.57sINFOlidar_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 + 11.58sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.58sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.58sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.58sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.58sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.58sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.58sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.58sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.58sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.58sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.58sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.58sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.58sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.58sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.59sINFOobjective_server_node[2026-09-08 23:37:03.678] [moveit_pro_license] [info] ×2 + 11.59sINFOobjective_server_node************************************************* ×4 + 11.60sINFOobjective_server_node* MoveIt Pro License ×2 + 11.60sINFOobjective_server_node* Application has successfully terminated ×2 + 11.61sINFOstatic_transform_publisher-4process has finished cleanly [pid 7517] ×2 + 11.61sINFOstatic_transform_publisher-3process has finished cleanly [pid 7516] ×2 + 11.62sERRORlidar_flattener.py-7process has died [pid 7520, 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_anhdktic']. ×2 + 11.64sERRORcomponent_container_isolated-1process has died [pid 7514, 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_nrxq6a62 --params-file /tmp/launch_params_qvmfug41 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.65sERRORodom_qos_relay.py-5process has died [pid 7518, 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 + 11.66sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7519] ×2 + 11.67sINFOobjective_server_node_main-29process has finished cleanly [pid 7675] ×2 + 11.67sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.92sERRORcomponent_container_isolated-2process has died [pid 7515, 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_nrxq6a62 --params-file /tmp/launch_params_wf1azn4c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.62sINFOcomponent_container_mt-30process has finished cleanly [pid 7676] ×2 + 13.22sINFOros2_control_node-12process has finished cleanly [pid 7608] ×2 + 13.27sINFOweb_bridge-34process has finished cleanly [pid 7685] ×2 + 13.27sINFOlaunchprocess[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 · 95 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079887 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079887 ms (missed cycles : 4).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336953 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336953 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.371ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836176 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836176 ms (missed cycles : 4).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788910459.25874758 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490266 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490266 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_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 ×4 + 3.29sWARNlocal_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. ×5 + 3.29sWARNlocal_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. ×5 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788910459.83465433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.604ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050709 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050709 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688357 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688357 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690280 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690280 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771504 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771504 ms (missed cycles : 2).[0m ×2 + 8.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876972 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876972 ms (missed cycles : 2).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.640ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928986 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928986 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.459ms + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.353ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987835 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987835 ms (missed cycles : 2).[0m ×2 + 10.98sWARNros2_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 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.427ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.145ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956547 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956547 ms (missed cycles : 2).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.876ms + 12.51sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 9.694ms + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819764 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819764 ms (missed cycles : 2).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 5.059ms + 13.44sINFOobjective_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 + 13.45sINFOjoint_trajectory_controllerGot request to cancel goal + 13.45sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.45sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.48sERRORobjective_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: 1788910469.91087818 seconds ×3 + 13.48sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.171ms + 13.59sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.59sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485832 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485832 ms (missed cycles : 4).[0m ×2 + 13.99sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.99sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788910470.49359465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 14.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.965ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758938 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758938 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175690 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175690 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218690 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218690 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 55 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.60sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994140 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994140 ms (missed cycles : 3).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831780 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831780 ms (missed cycles : 3).[0m ×2 + 8.40sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788910374.88607621 seconds ×3 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170458 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170458 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168003 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168003 ms (missed cycles : 2).[0m ×2 + 9.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 9.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788910376.46193647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191652 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191652 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743276 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743276 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554109 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554109 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 57 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880588 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116158 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116158 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922640 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922640 ms (missed cycles : 2).[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788910534.62375522 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393890 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393890 ms (missed cycles : 3).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.24sWARNros2_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 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788910535.19897580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854680 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854680 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475657 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475657 ms (missed cycles : 2).[0m ×2 + 5.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695751 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695751 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 10.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.06sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.0s | 40 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788910305.53789449 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788910306.11295176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.1248e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 6.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 8.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2).[0m ×2 + 9.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788910311.56308317 seconds ×3 + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 9.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788910312.13698459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.689ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3).[0m ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 10.37sWARNros2_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 ×2 + 10.39sWARNros2_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 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2).[0m ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 23 warnings · 116 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.034ms + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.100ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.789ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788910613.77681112 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788910614.39331079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788910614.84343958 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788910615.41051030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788910616.27063870 seconds ×3 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467784 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467784 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.86sINFOobjective_server_nodecaller: ×10 + 0.86sINFOobjective_server_nodetype: 0 ×10 + 0.86sINFOobjective_server_nodename: "" ×10 + 0.86sINFOobjective_server_nodeinstance_id: "" ×10 + 0.86sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.90sINFOmove_groupClearing octomap...[0m ×2 + 0.90sINFOmove_groupOctomap cleared.[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 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 ×3 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788910305.53789449 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788910306.11295176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.1248e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 6.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834368 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875654 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684584 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413976 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788910305.53789449 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788910306.11295176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057801 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.1248e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299787 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 6.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 22 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169757 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006970 ms (missed cycles : 4).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980194 ms (missed cycles : 2).[0m ×2 + 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: 1788910311.56308317 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 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 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788910312.13698459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.60sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.689ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889790 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.10sWARNros2_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 ×2 + 4.12sWARNros2_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 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019549 ms (missed cycles : 4).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435268 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 32 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal + 3.34sINFOjoint_trajectory_controllerAccepted new action goal + 3.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 32 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal + 3.34sINFOjoint_trajectory_controllerAccepted new action goal + 3.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 32 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal + 3.34sINFOjoint_trajectory_controllerAccepted new action goal + 3.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 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 | 32 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal + 3.34sINFOjoint_trajectory_controllerAccepted new action goal + 3.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 32 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161546 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056538 ms (missed cycles : 4).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.62sWARNros2_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 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 2.03sINFOjoint_trajectory_controllerGoal reached, success! + 2.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788910368.53711033 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181447 ms (missed cycles : 2).[0m ×2 + 2.23sWARNlocal_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. ×4 + 2.23sWARNlocal_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. ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788910369.12594485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.984ms + 2.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.34sINFOjoint_trajectory_controllerReceived new action goal + 3.34sINFOjoint_trajectory_controllerAccepted new action goal + 3.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527821 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 39 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788910407.13208365 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788910407.70861316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.521ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.80sINFOjoint_trajectory_controllerReceived new action goal + 5.80sINFOjoint_trajectory_controllerAccepted new action goal + 5.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 39 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788910407.13208365 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788910407.70861316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.521ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.80sINFOjoint_trajectory_controllerReceived new action goal + 5.80sINFOjoint_trajectory_controllerAccepted new action goal + 5.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 39 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080361 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865920 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593211 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788910407.13208365 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065475 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788910407.70861316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.521ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529772 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712136 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.80sINFOjoint_trajectory_controllerReceived new action goal + 5.80sINFOjoint_trajectory_controllerAccepted new action goal + 5.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 20 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736412 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977349 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859113 ms (missed cycles : 3).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788910541.06910324 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788910541.64869213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518989 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.27sWARNros2_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 ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222072 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 20 warnings · 116 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.034ms + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249030 ms (missed cycles : 2).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.100ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093051 ms (missed cycles : 2).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.789ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377805 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788910613.77681112 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788910614.39331079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064178 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788910614.84343958 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788910615.41051030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172048 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788910616.27063870 seconds ×3 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292194 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 318 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.61sINFOobjective_server_nodecaller: ×10 + 3.61sINFOobjective_server_nodetype: 0 ×10 + 3.61sINFOobjective_server_nodename: "" ×10 + 3.61sINFOobjective_server_nodeinstance_id: "" ×10 + 3.61sINFOobjective_server_node ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 315 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.61sINFOobjective_server_nodecaller: ×10 + 3.61sINFOobjective_server_nodetype: 0 ×10 + 3.61sINFOobjective_server_nodename: "" ×10 + 3.61sINFOobjective_server_nodeinstance_id: "" ×10 + 3.61sINFOobjective_server_node ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766331 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254811 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749888 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050806 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.76sINFOobjective_server_nodecaller: ×10 + 1.76sINFOobjective_server_nodetype: 0 ×10 + 1.76sINFOobjective_server_nodename: "" ×10 + 1.76sINFOobjective_server_nodeinstance_id: "" ×10 + 1.76sINFOobjective_server_node ×10 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788910259.93816447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788910259.94839907 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409111 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788910260.52606082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788910260.53617072 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788910261.10952854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788910261.26006126 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785616 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788910261.84812522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788910261.90825629 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943411 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788910262.48020959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465324 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126292 ms (missed cycles : 3).[0m ×2 | ||||