MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.4s	12 errors · 321 warnings · 1520 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/2026-09-09-00-41-38-141887-edbda1df089a-7473 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.36sINFOstatic_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' + 4.36sINFOstatic_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' + 4.38sINFOstatic_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' + 4.38sINFOstatic_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' + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.64sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.70sINFOcontroller_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. + 4.72sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.72sINFOros2_control_node-12process started with pid [7615] ×2 + 4.72sINFOmove_group-24process started with pid [7631] ×2 + 4.72sINFOparameter_manager_node-25process started with pid [7678] ×2 + 4.72sINFOwaypoint_manager_node-26process started with pid [7679] ×2 + 4.73sINFOmove_joint_resampler_node-27process started with pid [7680] ×2 + 4.73sINFOmove_end_effector_resampler_node-28process started with pid [7681] ×2 + 4.73sINFOobjective_server_node_main-29process started with pid [7682] ×2 + 4.73sINFOcomponent_container_mt-30process started with pid [7683] ×2 + 4.73sINFOcomponent_container_mt-31process started with pid [7684] ×2 + 4.73sINFOexecute_objective_bridge-32process started with pid [7691] ×2 + 4.73sINFOui_teleop_bridge-33process started with pid [7696] ×2 + 4.73sINFOweb_bridge-34process started with pid [7697] ×2 + 4.73sINFOtf2_web_republisher_node-35process started with pid [7716] ×2 + 4.73sINFOvideo_server-36process started with pid [7717] ×2 + 4.73sINFOweb_bridge_auth_proxy-37process started with pid [7718] ×2 + 4.73sINFOweb_video_auth_proxy-38process started with pid [7726] ×2 + 4.73sINFOcontroller_managerupdate rate is 600 Hz + 4.73sINFOcontroller_managerOverruns handling is : enabled + 4.73sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.73sWARNcontroller_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. + 4.74sINFOcomponent_container_isolated-1process started with pid [7523] ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390107 ms (missed cycles : 2). + 4.75sINFOcomponent_container_isolated-2process started with pid [7524] ×2 + 4.75sINFOstatic_transform_publisher-3process started with pid [7525] ×2 + 4.75sINFOstatic_transform_publisher-4process started with pid [7526] ×2 + 4.75sINFOodom_qos_relay.py-5process started with pid [7527] ×2 + 4.75sINFOforward_stereo_publisher.py-6process started with pid [7528] ×2 + 4.75sINFOlidar_flattener.py-7process started with pid [7529] ×2 + 4.75sINFOstatic_transform_publisher-8process started with pid [7530] ×2 + 4.75sINFOstatic_transform_publisher-9process started with pid [7531] ×2 + 4.75sINFOscan_to_scan_filter_chain-10process started with pid [7613] ×2 + 4.75sINFOscan_to_scan_filter_chain-11process started with pid [7614] ×2 + 4.75sINFOros2-13process started with pid [7616] ×2 + 4.75sINFOros2-14process started with pid [7619] ×2 + 4.75sINFOros2-15process started with pid [7620] ×2 + 4.75sINFOros2-16process started with pid [7621] ×2 + 4.75sINFOros2-17process started with pid [7622] ×2 + 4.75sINFOros2-18process started with pid [7623] ×2 + 4.75sINFOros2-19process started with pid [7624] ×2 + 4.75sINFOros2-20process started with pid [7625] ×2 + 4.75sINFOros2-21process started with pid [7626] ×2 + 4.75sINFOros2-22process started with pid [7629] ×2 + 4.75sINFOros2-23process started with pid [7630] ×2 + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.81sINFOcontroller_serverCreating controller server + 4.81sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.81sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.81sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.81sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.81sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.82sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.82sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.82sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.82sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.82sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.82sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.82sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.82sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.82sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.82sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.82sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.82sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.82sWARNros2_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 + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390107 ms (missed cycles : 2).[0m ×2 + 4.82sINFOmap_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. + 4.83sINFOmap_serverCreating + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.83sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.85sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.85sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.85sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.85sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.88sINFOlocal_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. + 4.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.89sINFOlocal_costmap.local_costmapCreating Costmap + 4.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.94sINFOlifecycle_manager_localizationCreating + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.95sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.96sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.96sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.96sINFOmap_serverConfiguring + 4.98sINFOsmoother_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. + 5.00sINFOsmoother_serverCreating smoother server + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.03sINFOrobot_state_publisherRobot initialized + 5.03sINFOcontroller_managerReceived robot description from topic. + 5.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.03sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.03sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.03sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.04sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.06sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.06sINFOamclConfiguring + 5.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.07sINFOplanner_serverCreating + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.07sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.07sINFOmap_serverActivating + 5.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.10sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.11sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.12sINFOglobal_costmap.global_costmapCreating Costmap + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.16sINFOvideo_server2026/09/09 00:41:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.16sINFOvideo_server2026/09/09 00:41:45 INF configuration loaded from /tmp/moveit-webrtc-889mhjlu/mediamtx.yml ×2 + 5.16sINFOvideo_server2026/09/09 00:41:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.16sINFOvideo_server2026/09/09 00:41:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.18sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.19sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.19sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.19sINFOamclActivating + 5.19sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.19sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.20sINFOamclSubscribed to map_topic: /map + 5.20sINFOamclSubscribed to scan_topic: /scan_merged + 5.20sINFOamclCreated reinitialize_global_localization service + 5.20sINFOamclCreated request_nomotion_update service + 5.21sINFOamclA new map was received + 5.21sINFOamclInitializing particle filter instance + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.32sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.35sINFObt_navigatorCreating + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.43sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.43sINFOwaypoint_followerCreating + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.51sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.51sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.51sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.52sWARNlaser_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. + 5.52sWARNscan_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 + 5.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.53sWARNlaser_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. + 5.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.56sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.57sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.498183 seconds + 5.57sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.57sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.57sINFOmove_groupLoaded robot model in 0.498183 seconds[0m ×2 + 5.57sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.57sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.57sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.59sINFOlifecycle_manager_navigationCreating + 5.64sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.67sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.67sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.67sINFOcontroller_serverConfiguring controller interface + 5.67sINFOcontroller_servergetting progress checker plugins.. + 5.68sINFOcontroller_servergetting goal checker plugins.. + 5.68sINFOcontroller_serverController frequency set to 20.0000Hz + 5.68sINFOlocal_costmap.local_costmapConfiguring + 5.72sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.75sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.80sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.80sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.81sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.81sINFOamclParticle filter initialization completed + 5.81sINFOamclInitializing particles from estimated pose and covariance + 5.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.83sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.83sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.83sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.87sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.87sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.88sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.89sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.89sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.92sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.93sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.95sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.95sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.96sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.96sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.97sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.97sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.98sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436911 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436911 ms (missed cycles : 2).[0m ×2 + 5.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.01sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.03sINFOcontroller_serverOptimizer reset ×2 + 6.04sINFOcontroller_serverController Server has FollowPath controllers available. + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.06sINFOsmoother_serverConfiguring smoother server + 6.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.08sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.08sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.08sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.09sINFOplanner_serverConfiguring + 6.09sINFOglobal_costmap.global_costmapConfiguring + 6.12sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.15sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.15sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.16sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.17sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.20sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.21sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.21sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.28sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.28sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.28sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.29sINFOplanner_serverPlanner Server has GridBased planners available. + 6.29sINFOwaypoint_manager_nodeLoaded robot model in 0.37811 seconds[0m ×2 + 6.30sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.30sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.31sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.31sINFObehavior_serverConfiguring + 6.31sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.32sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.32sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.32sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.33sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.33sINFObehavior_serverConfiguring spin + 6.35sINFObehavior_serverConfiguring backup + 6.36sINFObehavior_serverConfiguring drive_on_heading + 6.36sINFObehavior_serverConfiguring assisted_teleop + 6.38sINFObehavior_serverConfiguring wait + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.40sINFObt_navigatorConfiguring + 6.40sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.41sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.48sINFOmove_group[2026-09-09 00:41:46.396] [moveit_pro_license] [info] ×2 + 6.48sINFOmove_group************************************************* ×4 + 6.48sINFOmove_group* MoveIt Pro License ×2 + 6.48sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.57sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.62sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.62sINFOwaypoint_followerConfiguring + 6.65sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.65sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.65sINFOvelocity_smootherConfiguring velocity smoother + 6.66sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.66sINFOcontroller_serverActivating + 6.66sINFOlocal_costmap.local_costmapActivating + 6.66sINFOlocal_costmap.local_costmapChecking transform + 6.66sINFOlocal_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. ×7 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.86sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.86sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.86sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.86sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.90sINFOros2_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 + 6.90sINFOros2_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 + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.98sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.98sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.98sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.99sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.99sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.99sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290364 ms (missed cycles : 3). + 6.99sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290364 ms (missed cycles : 3).[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.99sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.00sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.00sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.00sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.00sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.00sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.05sINFOwaypoint_manager_node[2026-09-09 00:41:46.961] [moveit_pro_license] [info] ×2 + 7.05sINFOwaypoint_manager_node************************************************* ×4 + 7.05sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.05sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.51sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.51sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.76sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.76sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.76sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.77sWARNros2_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 + 7.77sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.77sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.77sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.77sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.77sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.77sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.77sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.77sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.77sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.77sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.77sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.77sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.77sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.77sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.77sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.77sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.77sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.77sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.77sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.77sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.77sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 7.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 7.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.88sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.89sINFOforce_torque_sensor_broadcasterconfigure successful + 7.89sINFOros2_control_nodeconfigure successful[0m ×6 + 7.89sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.89sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.89sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.99sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.02sINFOros2_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 + 8.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.02sWARNros2_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 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874277 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874277 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_server_node[2026-09-09 00:41:48.059] [moveit_pro_license] [info] ×2 + 8.15sINFOobjective_server_node************************************************* ×4 + 8.15sINFOobjective_server_node* MoveIt Pro License ×2 + 8.15sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.24sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.24sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.24sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.25sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.25sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 8.25sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 8.26sINFOobjective_server_nodeLoaded robot model in 0.044613 seconds[0m ×2 + 8.26sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.26sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.30sINFOros2-13process has finished cleanly [pid 7616] ×2 + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.34sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.35sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.35sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.35sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.36sINFOplatform_velocity_controllerconfigure successful + 8.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.36sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.36sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.36sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.36sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.37sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.37sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.37sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.37sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.37sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.37sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.37sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.37sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.63sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.63sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.65sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.65sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.68sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.68sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.68sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.68sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.69sINFOcomponent_container_mtLoaded robot model in 0.443326 seconds[0m ×2 + 8.69sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.69sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.78sINFOros2-16process has finished cleanly [pid 7621] ×2 + 8.79sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 8.79sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 8.79sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.79sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.79sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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 + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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 + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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. + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sWARNobjective_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 + 8.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.86sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.86sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.86sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.86sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.89sINFOobjective_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 + 8.89sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.92sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.92sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.96sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.96sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724084 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724084 ms (missed cycles : 2).[0m ×2 + 9.37sINFOros2_control_node[2026-09-09 00:41:49.283] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.37sINFOros2_control_node[2026-09-09 00:41:49.286] [info] Controller state will be published at 10 Hz. ×2 + 9.38sINFOros2_control_node[2026-09-09 00:41:49.288] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.47sINFOcomponent_container_mt[2026-09-09 00:41:49.382] [moveit_pro_license] [info] ×2 + 9.47sINFOcomponent_container_mt************************************************* ×4 + 9.47sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.47sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.59sINFOmove_groupMoveGroup debug mode is ON + 9.59sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.65sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.65sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 9.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 9.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.74sINFOros2-21process has finished cleanly [pid 7626] ×2 + 9.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.78sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.78sINFOmove_group ×8 + 9.78sINFOmove_group****************************************************** ×4 + 9.78sINFOmove_group* MoveGroup using: ×2 + 9.79sINFOmove_group* - apply_planning_scene_service ×2 + 9.79sINFOmove_group* - clear_octomap_service ×2 + 9.79sINFOmove_group* - get_group_urdf ×2 + 9.79sINFOmove_group* - load_geometry_from_file ×2 + 9.79sINFOmove_group* - get_planning_scene_service ×2 + 9.79sINFOmove_group* - kinematics_service ×2 + 9.79sINFOmove_group* - save_geometry_to_file ×2 + 9.79sINFOmove_group* - GetPlanningGroups ×2 + 9.79sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.79sINFOmove_group[0m ×2 + 9.79sINFOmove_group[92mYou can start planning now![0m ×2 + 9.85sWARNros2_control_nodeCamera render tick took 0.99 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.86sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.86sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.88sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.89sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.89sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.89sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.10sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.10sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.10sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.10sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.10sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 10.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 10.13sINFOros2-15process has finished cleanly [pid 7620] ×2 + 10.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.16sINFOlocal_costmap.local_costmapstart + 10.16sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.16sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.16sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.16sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.16sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.18sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.18sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.26sWARNcontroller_serverParameter controller_server.verbose not found + 10.26sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.37sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.37sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.37sINFOsmoother_serverActivating + 10.37sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120081 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120081 ms (missed cycles : 2).[0m ×2 + 10.47sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.47sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.47sINFOplanner_serverActivating + 10.48sINFOglobal_costmap.global_costmapActivating + 10.48sINFOglobal_costmap.global_costmapChecking transform + 10.48sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 10.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 10.53sINFOros2-17process has finished cleanly [pid 7622] ×2 + 10.53sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 6.102ms + 10.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 10.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 10.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788914508.774 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.98sINFOglobal_costmap.global_costmapstart + 11.10sINFOros2_control_node[2026-09-09 00:41:51.009] [info] Controller state will be published at 20 Hz. ×2 + 11.10sINFOros2_control_node[2026-09-09 00:41:51.011] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.13sWARNobjective_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 + 11.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.39sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788914510.427 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 11.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 11.46sINFOros2-22process has finished cleanly [pid 7629] ×2 + 11.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050763 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050763 ms (missed cycles : 3).[0m ×2 + 11.90sINFOros2_control_node[2026-09-09 00:41:51.813] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.90sINFOros2_control_node[2026-09-09 00:41:51.815] [info] Controller state will be published at 10 Hz. ×2 + 11.90sINFOros2_control_node[2026-09-09 00:41:51.817] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.03sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.03sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.13sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.13sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.13sINFObehavior_serverActivating + 12.13sINFObehavior_serverActivating spin + 12.13sINFObehavior_serverActivating backup + 12.13sINFObehavior_serverActivating drive_on_heading + 12.13sINFObehavior_serverActivating assisted_teleop + 12.13sINFObehavior_serverActivating wait + 12.13sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.23sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.23sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.23sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.23sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 12.23sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.23sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 12.24sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.24sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.24sINFObt_navigatorActivating + 12.29sINFOros2-20process has finished cleanly [pid 7625] ×2 + 12.31sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.31sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.33sINFOplatform_velocity_controller_nav2configure successful + 12.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.43sINFOwaypoint_followerActivating + 12.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.54sINFOvelocity_smootherActivating + 12.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714623 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714623 ms (missed cycles : 2).[0m ×2 + 12.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.65sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.65sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.65sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.65sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.65sINFOros2-18process has finished cleanly [pid 7623] ×2 + 12.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 12.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 12.71sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.71sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.71sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.71sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.72sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.72sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 13.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 13.07sINFOros2-14process has finished cleanly [pid 7619] ×2 + 13.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.17sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.17sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.46sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.46sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz + 13.46sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.47sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k3ca19ee --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__gz8j6sd --params-file /tmp/launch_params_3q_e64iz [0m ×2 + 13.51sINFOros2-19process has finished cleanly [pid 7624] ×2 + 13.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 13.52sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 13.53sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 13.53sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910325 ms (missed cycles : 3). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910325 ms (missed cycles : 3).[0m ×2 + 13.93sINFOros2_control_node[2026-09-09 00:41:53.844] [info] Controller state will be published at 20 Hz. ×2 + 13.93sINFOros2_control_node[2026-09-09 00:41:53.845] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.29sINFOros2-23process has finished cleanly [pid 7630] ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139165 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139165 ms (missed cycles : 4).[0m ×2 + 15.18sWARNros2_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 + 15.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 17.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 19.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.14sINFOobjective_server_nodecaller: ×10 + 19.14sINFOobjective_server_nodetype: 0 ×10 + 19.14sINFOobjective_server_nodename: "" ×10 + 19.14sINFOobjective_server_nodeinstance_id: "" ×10 + 19.14sINFOobjective_server_node ×10 + 19.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.19sINFOmove_groupClearing octomap...[0m ×2 + 19.19sINFOmove_groupOctomap cleared.[0m ×2 + 19.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 19.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 20.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 20.72sWARNros2_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 + 21.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.12sINFOobjective_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 + 21.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 21.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 21.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 21.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.2s	3 errors · 279 warnings · 251 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.195ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123578 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123578 ms (missed cycles : 4).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.860ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.050ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622208 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622208 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.867ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038953 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038953 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_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 + 2.84sINFOjoint_trajectory_controllerGot request to cancel goal + 2.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.88sERRORobjective_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: 1788914730.86645913 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788914731.45966530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.127ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968626 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968626 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357900 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357900 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975062 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975062 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281160 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281160 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463325 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463325 ms (missed cycles : 3).[0m ×2 + 8.77sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.637ms + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782589 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782589 ms (missed cycles : 3).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957938 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957938 ms (missed cycles : 3).[0m ×2 + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 11.10sINFOamclParticle filter update iteration stats: 4642 particles 723 points - 8.752ms + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319313 ms (missed cycles : 4). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319313 ms (missed cycles : 4).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 7.238ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272909 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272909 ms (missed cycles : 3).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 3.354ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820203 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820203 ms (missed cycles : 2).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674328 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674328 ms (missed cycles : 2).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419642 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419642 ms (missed cycles : 2).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301619 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301619 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639308 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639308 ms (missed cycles : 3).[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729869 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729869 ms (missed cycles : 2).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 19.45sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309833 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309833 ms (missed cycles : 2).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050834 ms (missed cycles : 4). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050834 ms (missed cycles : 4).[0m ×2 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617226 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617226 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219185 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219185 ms (missed cycles : 2).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683007 ms (missed cycles : 2). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683007 ms (missed cycles : 2).[0m ×2 + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934629 ms (missed cycles : 3). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934629 ms (missed cycles : 3).[0m ×2 + 25.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 25.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193134 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193134 ms (missed cycles : 2).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.561ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616234 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616234 ms (missed cycles : 3).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670004 ms (missed cycles : 4). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670004 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624528 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624528 ms (missed cycles : 3).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 29.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019975 ms (missed cycles : 3). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019975 ms (missed cycles : 3).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979316 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979316 ms (missed cycles : 2).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786699 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786699 ms (missed cycles : 2).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844112 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844112 ms (missed cycles : 3).[0m ×2 + 34.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 34.58sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.58sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.820968 ms (missed cycles : 6). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.820968 ms (missed cycles : 6).[0m ×2 + 35.13sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.62sWARNros2_control_nodeCamera render tick took 0.69 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.72 s); lidar_front (0.72 s); lidar_rear (0.72 s); wrist_camera (0.72 s). The render path has stopped producing new frames for them.[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250290 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250290 ms (missed cycles : 2).[0m ×2 + 36.09sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611997 ms (missed cycles : 4). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611997 ms (missed cycles : 4).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290527 ms (missed cycles : 3). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290527 ms (missed cycles : 3).[0m ×2 + 38.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345862 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345862 ms (missed cycles : 2).[0m ×2 + 39.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 40.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641870 ms (missed cycles : 6). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641870 ms (missed cycles : 6).[0m ×2 + 40.73sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 40.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 41.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592602 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592602 ms (missed cycles : 3).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229668 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229668 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825587 ms (missed cycles : 5). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825587 ms (missed cycles : 5).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179884 ms (missed cycles : 4). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179884 ms (missed cycles : 4).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206455 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206455 ms (missed cycles : 2).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772281 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772281 ms (missed cycles : 3).[0m ×2 + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697880 ms (missed cycles : 5). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697880 ms (missed cycles : 5).[0m ×2 + 48.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472630 ms (missed cycles : 3). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472630 ms (missed cycles : 3).[0m ×2 + 49.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 49.68sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059728 ms (missed cycles : 3). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059728 ms (missed cycles : 3).[0m ×2 + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001853 ms (missed cycles : 3). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001853 ms (missed cycles : 3).[0m ×2 + 51.91sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 51.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385314 ms (missed cycles : 2). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385314 ms (missed cycles : 2).[0m ×2 + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251566 ms (missed cycles : 2). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251566 ms (missed cycles : 2).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919458 ms (missed cycles : 4). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919458 ms (missed cycles : 4).[0m ×2 + 54.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.799ms + 55.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271961 ms (missed cycles : 2). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271961 ms (missed cycles : 2).[0m ×2 + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065199 ms (missed cycles : 3). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065199 ms (missed cycles : 3).[0m ×2 + 56.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 56.96sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 56.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375816 ms (missed cycles : 6). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375816 ms (missed cycles : 6).[0m ×2 + 58.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618596 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618596 ms (missed cycles : 4).[0m ×2 + 58.77sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828330 ms (missed cycles : 3). + 59.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828330 ms (missed cycles : 3).[0m ×2 + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853925 ms (missed cycles : 2). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853925 ms (missed cycles : 2).[0m ×2 + 61.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284097 ms (missed cycles : 2). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284097 ms (missed cycles : 2).[0m ×2 + 62.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455708 ms (missed cycles : 3). + 62.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455708 ms (missed cycles : 3).[0m ×2 + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778724 ms (missed cycles : 5). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778724 ms (missed cycles : 5).[0m ×2 + 63.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 64.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136140 ms (missed cycles : 4). + 64.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136140 ms (missed cycles : 4).[0m ×2 + 65.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 65.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118609 ms (missed cycles : 3). + 65.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118609 ms (missed cycles : 3).[0m ×2 + 66.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 66.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938850 ms (missed cycles : 3). + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938850 ms (missed cycles : 3).[0m ×2 + 67.01sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 67.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 67.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 67.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189181 ms (missed cycles : 4). + 67.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189181 ms (missed cycles : 4).[0m ×2 + 68.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788914796.04983521 seconds ×3 + 68.18sWARNlocal_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. + 68.18sWARNlocal_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. + 68.28sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.28sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.60sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788914796.62914562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.787ms + 68.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944996 ms (missed cycles : 3). + 68.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944996 ms (missed cycles : 3).[0m ×2 + 70.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350311 ms (missed cycles : 3). + 70.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350311 ms (missed cycles : 3).[0m ×2 + 71.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250089 ms (missed cycles : 2). + 71.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250089 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	245 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.61sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309344 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309344 ms (missed cycles : 4).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490018 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490018 ms (missed cycles : 3).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.866ms + 8.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.307ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898321 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898321 ms (missed cycles : 3).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.430ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385787 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385787 ms (missed cycles : 3).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.846ms + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.327ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741517 ms (missed cycles : 3). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741517 ms (missed cycles : 3).[0m ×2 + 11.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.976ms + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.722ms + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911723 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911723 ms (missed cycles : 2).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 4435 particles 723 points - 7.169ms + 13.01sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 6.095ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180220 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180220 ms (missed cycles : 5).[0m ×2 + 13.67sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.709ms + 14.27sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.887ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484259 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484259 ms (missed cycles : 3).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269766 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269766 ms (missed cycles : 3).[0m ×2 + 16.10sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269784 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269784 ms (missed cycles : 2).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms ×2 + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 17.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740022 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740022 ms (missed cycles : 2).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222382 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222382 ms (missed cycles : 3).[0m ×2 + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321397 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321397 ms (missed cycles : 2).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245699 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245699 ms (missed cycles : 2).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 21.69sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379497 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379497 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416291 ms (missed cycles : 4). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416291 ms (missed cycles : 4).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385318 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385318 ms (missed cycles : 3).[0m ×2 + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366099 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366099 ms (missed cycles : 3).[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666138 ms (missed cycles : 5). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666138 ms (missed cycles : 5).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 27.30sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 27.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442612 ms (missed cycles : 4). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442612 ms (missed cycles : 4).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349896 ms (missed cycles : 3). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349896 ms (missed cycles : 3).[0m ×2 + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944537 ms (missed cycles : 5). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944537 ms (missed cycles : 5).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372823 ms (missed cycles : 5). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372823 ms (missed cycles : 5).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103000 ms (missed cycles : 3). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103000 ms (missed cycles : 3).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212114 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212114 ms (missed cycles : 2).[0m ×2 + 34.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189452 ms (missed cycles : 3). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189452 ms (missed cycles : 3).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882240 ms (missed cycles : 3). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882240 ms (missed cycles : 3).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142360 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142360 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617512 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617512 ms (missed cycles : 3).[0m ×2 + 37.99sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670469 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670469 ms (missed cycles : 2).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065497 ms (missed cycles : 5). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065497 ms (missed cycles : 5).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222274 ms (missed cycles : 4). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222274 ms (missed cycles : 4).[0m ×2 + 41.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993182 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993182 ms (missed cycles : 2).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480498 ms (missed cycles : 3). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480498 ms (missed cycles : 3).[0m ×2 + 43.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549502 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549502 ms (missed cycles : 3).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885999 ms (missed cycles : 2). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885999 ms (missed cycles : 2).[0m ×2 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743595 ms (missed cycles : 2). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743595 ms (missed cycles : 2).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043063 ms (missed cycles : 2). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043063 ms (missed cycles : 2).[0m ×2 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005798 ms (missed cycles : 3). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005798 ms (missed cycles : 3).[0m ×2 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625946 ms (missed cycles : 3). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625946 ms (missed cycles : 3).[0m ×2 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110288 ms (missed cycles : 2). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110288 ms (missed cycles : 2).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842162 ms (missed cycles : 2). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842162 ms (missed cycles : 2).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206315 ms (missed cycles : 3). + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206315 ms (missed cycles : 3).[0m ×2 + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333210 ms (missed cycles : 2). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333210 ms (missed cycles : 2).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969261 ms (missed cycles : 5). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969261 ms (missed cycles : 5).[0m ×2 + 55.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737056 ms (missed cycles : 2). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737056 ms (missed cycles : 2).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484049 ms (missed cycles : 4). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484049 ms (missed cycles : 4).[0m ×2 + 57.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673401 ms (missed cycles : 5). + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673401 ms (missed cycles : 5).[0m ×2 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3).[0m ×2 + 59.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 59.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788914859.78326201 seconds ×3 + 59.76sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.76sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3).[0m ×2 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.22sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788914860.37639570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.65sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.357ms + 61.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671930 ms (missed cycles : 3). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671930 ms (missed cycles : 3).[0m ×2 + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623435 ms (missed cycles : 4). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623435 ms (missed cycles : 4).[0m ×2 + 63.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361868 ms (missed cycles : 3). + 63.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361868 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	240 warnings · 204 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788914570.85383797 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788914571.43788528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.30sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.935ms + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.85sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917391 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917391 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263727 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263727 ms (missed cycles : 2).[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.015ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239606 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239606 ms (missed cycles : 2).[0m ×2 + 9.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 3.198ms + 9.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791706 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791706 ms (missed cycles : 2).[0m ×2 + 10.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368517 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368517 ms (missed cycles : 4).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042808 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042808 ms (missed cycles : 2).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535245 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535245 ms (missed cycles : 2).[0m ×2 + 13.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307743 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307743 ms (missed cycles : 4).[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733886 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733886 ms (missed cycles : 4).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292786 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292786 ms (missed cycles : 5).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402045 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402045 ms (missed cycles : 3).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976287 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976287 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524154 ms (missed cycles : 6). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524154 ms (missed cycles : 6).[0m ×2 + 19.64sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101545 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101545 ms (missed cycles : 3).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563335 ms (missed cycles : 6). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563335 ms (missed cycles : 6).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653082 ms (missed cycles : 6). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653082 ms (missed cycles : 6).[0m ×2 + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472824 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472824 ms (missed cycles : 3).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508211 ms (missed cycles : 3). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508211 ms (missed cycles : 3).[0m ×2 + 25.11sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 25.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×6 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540307 ms (missed cycles : 5). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540307 ms (missed cycles : 5).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140736 ms (missed cycles : 4). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140736 ms (missed cycles : 4).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071220 ms (missed cycles : 4). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071220 ms (missed cycles : 4).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245831 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245831 ms (missed cycles : 2).[0m ×2 + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.511ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135395 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135395 ms (missed cycles : 2).[0m ×2 + 30.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 30.69sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557643 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557643 ms (missed cycles : 3).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.652ms + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223893 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223893 ms (missed cycles : 2).[0m ×2 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455565 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455565 ms (missed cycles : 3).[0m ×2 + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 34.17sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200332 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200332 ms (missed cycles : 2).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829887 ms (missed cycles : 3). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829887 ms (missed cycles : 3).[0m ×2 + 36.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884576 ms (missed cycles : 5). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884576 ms (missed cycles : 5).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970027 ms (missed cycles : 3). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970027 ms (missed cycles : 3).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600341 ms (missed cycles : 3). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600341 ms (missed cycles : 3).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920161 ms (missed cycles : 5). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920161 ms (missed cycles : 5).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002968 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002968 ms (missed cycles : 2).[0m ×2 + 41.20sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 41.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204293 ms (missed cycles : 4). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204293 ms (missed cycles : 4).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804046 ms (missed cycles : 5). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804046 ms (missed cycles : 5).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623788 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623788 ms (missed cycles : 3).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055776 ms (missed cycles : 2). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055776 ms (missed cycles : 2).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210270 ms (missed cycles : 5). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210270 ms (missed cycles : 5).[0m ×2 + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898661 ms (missed cycles : 2). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898661 ms (missed cycles : 2).[0m ×2 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996758 ms (missed cycles : 2). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996758 ms (missed cycles : 2).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407102 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407102 ms (missed cycles : 2).[0m ×2 + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126566 ms (missed cycles : 2). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126566 ms (missed cycles : 2).[0m ×2 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588904 ms (missed cycles : 3). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588904 ms (missed cycles : 3).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409579 ms (missed cycles : 3). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409579 ms (missed cycles : 3).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696900 ms (missed cycles : 2). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696900 ms (missed cycles : 2).[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121247 ms (missed cycles : 2). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121247 ms (missed cycles : 2).[0m ×2 + 55.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 55.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349855 ms (missed cycles : 2). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349855 ms (missed cycles : 2).[0m ×2 + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 57.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 59.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 59.84sWARNlocal_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. ×6 + 59.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 60.88sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 61.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 62.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 62.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.1s	241 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788914667.79439092 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788914668.37806654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.764ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021315 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021315 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767709 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767709 ms (missed cycles : 2).[0m ×2 + 8.36sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 8.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.216ms + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771877 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771877 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.358ms + 10.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.643ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285670 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285670 ms (missed cycles : 3).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.558ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398178 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398178 ms (missed cycles : 3).[0m ×2 + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 11.81sINFOamclParticle filter update iteration stats: 4704 particles 723 points - 7.535ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684842 ms (missed cycles : 5). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684842 ms (missed cycles : 5).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 6.598ms + 12.97sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.527ms + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744680 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744680 ms (missed cycles : 3).[0m ×2 + 13.53sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×6 + 13.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.368ms + 14.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254914 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254914 ms (missed cycles : 2).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448919 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448919 ms (missed cycles : 3).[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045765 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045765 ms (missed cycles : 2).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038282 ms (missed cycles : 5). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038282 ms (missed cycles : 5).[0m ×2 + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081369 ms (missed cycles : 4). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081369 ms (missed cycles : 4).[0m ×2 + 18.93sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120808 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120808 ms (missed cycles : 2).[0m ×2 + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661927 ms (missed cycles : 3). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661927 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151450 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151450 ms (missed cycles : 2).[0m ×2 + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860371 ms (missed cycles : 3). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860371 ms (missed cycles : 3).[0m ×2 + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732785 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732785 ms (missed cycles : 2).[0m ×2 + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124016 ms (missed cycles : 4). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124016 ms (missed cycles : 4).[0m ×2 + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms ×2 + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397619 ms (missed cycles : 4). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397619 ms (missed cycles : 4).[0m ×2 + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742107 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742107 ms (missed cycles : 2).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031535 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031535 ms (missed cycles : 2).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.580ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.655ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441147 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441147 ms (missed cycles : 3).[0m ×2 + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363214 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363214 ms (missed cycles : 3).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551678 ms (missed cycles : 3). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551678 ms (missed cycles : 3).[0m ×2 + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712420 ms (missed cycles : 2). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712420 ms (missed cycles : 2).[0m ×2 + 33.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918616 ms (missed cycles : 3). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918616 ms (missed cycles : 3).[0m ×2 + 33.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721094 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721094 ms (missed cycles : 2).[0m ×2 + 35.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 35.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238134 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238134 ms (missed cycles : 2).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753416 ms (missed cycles : 3). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753416 ms (missed cycles : 3).[0m ×2 + 37.88sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050210 ms (missed cycles : 5). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050210 ms (missed cycles : 5).[0m ×2 + 38.68sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795606 ms (missed cycles : 5). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795606 ms (missed cycles : 5).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348594 ms (missed cycles : 2). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348594 ms (missed cycles : 2).[0m ×2 + 40.19sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 40.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113942 ms (missed cycles : 4). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113942 ms (missed cycles : 4).[0m ×2 + 41.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 42.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679431 ms (missed cycles : 5). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679431 ms (missed cycles : 5).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211861 ms (missed cycles : 3). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211861 ms (missed cycles : 3).[0m ×2 + 43.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 44.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031554 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031554 ms (missed cycles : 2).[0m ×2 + 45.25sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916894 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916894 ms (missed cycles : 3).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003557 ms (missed cycles : 5). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003557 ms (missed cycles : 5).[0m ×2 + 47.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939289 ms (missed cycles : 5). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939289 ms (missed cycles : 5).[0m ×2 + 47.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021665 ms (missed cycles : 4). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021665 ms (missed cycles : 4).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646210 ms (missed cycles : 3). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646210 ms (missed cycles : 3).[0m ×2 + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.820ms + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156047 ms (missed cycles : 5). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156047 ms (missed cycles : 5).[0m ×2 + 50.84sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 51.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555457 ms (missed cycles : 6). + 51.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555457 ms (missed cycles : 6).[0m ×2 + 52.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614579 ms (missed cycles : 3). + 52.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614579 ms (missed cycles : 3).[0m ×2 + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653780 ms (missed cycles : 3). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653780 ms (missed cycles : 3).[0m ×2 + 53.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 54.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293544 ms (missed cycles : 2). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293544 ms (missed cycles : 2).[0m ×2 + 55.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 55.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788914719.89824724 seconds ×3 + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.83sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788914720.48030663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.811ms + 55.93sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 8.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.93sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697716 ms (missed cycles : 2). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697716 ms (missed cycles : 2).[0m ×2 + 56.25sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 56.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.244ms + 57.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145655 ms (missed cycles : 3). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145655 ms (missed cycles : 3).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173411 ms (missed cycles : 4). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173411 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	184 warnings · 379 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.16sINFOobjective_server_nodecaller: ×12 + 1.16sINFOobjective_server_nodetype: 0 ×12 + 1.16sINFOobjective_server_nodename: "" ×12 + 1.16sINFOobjective_server_nodeinstance_id: "" ×12 + 1.16sINFOobjective_server_node ×12 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.75sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829596 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829596 ms (missed cycles : 2).[0m ×2 + 8.32sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 3.537ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129416 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129416 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779268 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779268 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766729 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766729 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878746 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878746 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502539 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502539 ms (missed cycles : 4).[0m ×2 + 13.40sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×8 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334080 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334080 ms (missed cycles : 3).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058295 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058295 ms (missed cycles : 3).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100543 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100543 ms (missed cycles : 3).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956391 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956391 ms (missed cycles : 2).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275664 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275664 ms (missed cycles : 2).[0m ×2 + 18.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161952 ms (missed cycles : 3). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161952 ms (missed cycles : 3).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757304 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757304 ms (missed cycles : 2).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123569 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123569 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371188 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371188 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941618 ms (missed cycles : 3). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941618 ms (missed cycles : 3).[0m ×2 + 23.53sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690573 ms (missed cycles : 3). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690573 ms (missed cycles : 3).[0m ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631074 ms (missed cycles : 3). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631074 ms (missed cycles : 3).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605632 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605632 ms (missed cycles : 3).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104999 ms (missed cycles : 2). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104999 ms (missed cycles : 2).[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926337 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926337 ms (missed cycles : 3).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920836 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920836 ms (missed cycles : 2).[0m ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823024 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823024 ms (missed cycles : 2).[0m ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278517 ms (missed cycles : 5). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278517 ms (missed cycles : 5).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668117 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668117 ms (missed cycles : 2).[0m ×2 + 33.75sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 33.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283912 ms (missed cycles : 3). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283912 ms (missed cycles : 3).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477050 ms (missed cycles : 4). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477050 ms (missed cycles : 4).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490246 ms (missed cycles : 3). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490246 ms (missed cycles : 3).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946493 ms (missed cycles : 3). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946493 ms (missed cycles : 3).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164946 ms (missed cycles : 5). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164946 ms (missed cycles : 5).[0m ×2 + 38.82sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137614 ms (missed cycles : 3). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137614 ms (missed cycles : 3).[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182273 ms (missed cycles : 4). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182273 ms (missed cycles : 4).[0m ×2 + 41.66sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.200ms + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569153 ms (missed cycles : 3). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569153 ms (missed cycles : 3).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449905 ms (missed cycles : 3). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449905 ms (missed cycles : 3).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3).[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3).[0m ×2 + 46.77sINFOjoint_trajectory_controllerGoal reached, success! + 46.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788914564.66468287 seconds ×3 + 46.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2).[0m ×2 + 47.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.32sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788914565.24369884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3).[0m ×2 + 48.52sINFOobjective_server_nodeFound path in 0 iterations (3.7983e-05 s). ×2 + 48.59sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3). + 49.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3).[0m ×2 + 50.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 50.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	146 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634206 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477950 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477950 ms (missed cycles : 3).[0m ×2 + 1.76sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.80sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788914635.00085282 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580860 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580860 ms (missed cycles : 4).[0m ×2 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sWARNros2_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 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541494 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541494 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788914636.58423853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248204 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248204 ms (missed cycles : 3).[0m ×2 + 4.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297974 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297974 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352047 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352047 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908479 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908479 ms (missed cycles : 3).[0m ×2 + 8.08sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.492ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899097 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899097 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.435ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404511 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404511 ms (missed cycles : 3).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.069ms + 10.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.776ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633214 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633214 ms (missed cycles : 4).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 11.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835081 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835081 ms (missed cycles : 2).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 12.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161678 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161678 ms (missed cycles : 2).[0m ×2 + 13.31sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 6.924ms + 13.98sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 5.919ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779378 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779378 ms (missed cycles : 3).[0m ×2 + 14.56sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 4.127ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912552 ms (missed cycles : 4). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912552 ms (missed cycles : 4).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978611 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978611 ms (missed cycles : 3).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821370 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821370 ms (missed cycles : 2).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112732 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112732 ms (missed cycles : 2).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 18.88sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784166 ms (missed cycles : 5). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784166 ms (missed cycles : 5).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700748 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700748 ms (missed cycles : 3).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349001 ms (missed cycles : 3). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349001 ms (missed cycles : 3).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893817 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893817 ms (missed cycles : 2).[0m ×2 + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209493 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209493 ms (missed cycles : 2).[0m ×2 + 23.93sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 23.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890408 ms (missed cycles : 4). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890408 ms (missed cycles : 4).[0m ×2 + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494104 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494104 ms (missed cycles : 3).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803853 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803853 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120714 ms (missed cycles : 2). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120714 ms (missed cycles : 2).[0m ×2 + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659875 ms (missed cycles : 3). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659875 ms (missed cycles : 3).[0m ×2 + 29.53sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711053 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711053 ms (missed cycles : 2).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001292 ms (missed cycles : 2). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001292 ms (missed cycles : 2).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2).[0m ×2 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5).[0m ×2 + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2).[0m ×2 + 34.59sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788914667.79439092 seconds ×3 + 34.60sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 34.67sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.67sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2).[0m ×2 + 35.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788914668.37806654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 35.57sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 35.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.764ms + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	106 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484049 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484049 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673401 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673401 ms (missed cycles : 5).[0m ×2 + 1.43sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788914859.78326201 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3).[0m ×2 + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788914860.37639570 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 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.357ms + 4.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671930 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671930 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623435 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623435 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361868 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361868 ms (missed cycles : 3).[0m ×2 + 6.79sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765854 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765854 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024135 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024135 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005663 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005663 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 10.33sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996862 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996862 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.14sINFOobjective_server_nodeFound path in 33 iterations (0.0480871 s). ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771696 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771696 ms (missed cycles : 3).[0m ×2 + 11.68sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 12.10sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 12.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.44sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775304 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775304 ms (missed cycles : 2).[0m ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.39sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923773 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923773 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829719 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829719 ms (missed cycles : 2).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.097ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828910 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828910 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.297ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4).[0m ×2 + 17.29sWARNros2_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 + 17.31sWARNros2_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 + 17.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.978ms + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.204ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4).[0m ×2 + 19.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2).[0m ×2 + 19.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788914876.26231933 seconds ×3 + 19.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.93sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914876.87302518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.00sINFOmove_groupClearing octomap...[0m ×2 + 20.00sINFOmove_groupOctomap cleared.[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.260ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3).[0m ×2 + 20.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914877.47315598 seconds ×3 + 20.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914878.04552889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3).[0m ×2 + 21.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914878.63565969 seconds ×3 + 22.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	108 errors · 37 warnings · 517 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.978ms + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.204ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2).[0m ×2 + 2.08sINFOjoint_trajectory_controllerGoal reached, success! + 2.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788914876.26231933 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914876.87302518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.72sINFOmove_groupClearing octomap...[0m ×2 + 2.72sINFOmove_groupOctomap cleared.[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.260ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914877.47315598 seconds ×3 + 3.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914878.04552889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914878.63565969 seconds ×3 + 4.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3).[0m ×2 + 5.17sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770190 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770190 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362566 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362566 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042903 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042903 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519467 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519467 ms (missed cycles : 3).[0m ×2 + 10.16sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.20sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.21sERRORweb_video_auth_proxy-38process has died [pid 7726, 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 + 10.21sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.22sERRORweb_bridge_auth_proxy-37process has died [pid 7718, 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 + 10.22sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.23sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.24sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.25sINFOvideo_server-36process has finished cleanly [pid 7717] ×2 + 10.25sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.26sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.27sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.28sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.29sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.30sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.32sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.33sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.34sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.35sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.35sINFOcontroller_managerShutdown request received.... + 10.35sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.35sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.35sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.35sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.35sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.35sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.35sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.35sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.35sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.35sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.35sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.35sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.36sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.36sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.36sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down the controller manager. + 10.36sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.37sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.38sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.39sERRORmove_group-24process has died [pid 7631, 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_oe_jboj5 --params-file /tmp/launch_params_xqpmcq6c --params-file /tmp/launch_params_tyf_6op2 --params-file /tmp/launch_params_9wjovvq9 --params-file /tmp/launch_params_3wujl3mv --params-file /tmp/launch_params_x5o6xn4t']. ×2 + 10.39sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.40sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.42sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.43sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.43sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.44sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.45sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.45sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.45sINFOmap_serverDeactivating + 10.45sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.46sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.46sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.46sINFOcontroller_serverDeactivating + 10.46sINFOlocal_costmap.local_costmapDeactivating + 10.46sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.46sINFOvideo_server2026/09/09 00:48:04 INF shutting down gracefully ×2 + 10.46sINFOvideo_server2026/09/09 00:48:04 INF [WebRTC] closing ×2 + 10.46sINFOvideo_server2026/09/09 00:48:04 INF [RTSP] closing ×2 + 10.46sINFOvideo_server2026/09/09 00:48:04 INF waiting for running hooks ×2 + 10.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOmap_serverCleaning up + 10.46sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.46sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.46sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.46sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.46sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.46sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.46sERRORmove_groupStack trace (most recent call last) in thread 8318: ×2 + 10.46sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.46sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29a785ba63, in __clone ×2 + 10.46sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29a77ceaa3, in ×2 + 10.46sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29a7a60db3, in ×2 + 10.46sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f29a81c5a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.46sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f29a7df2620, in rclcpp::Rate::sleep() ×2 + 10.46sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f29a7d34d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.46sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f29a7cf6087, in ×2 + 10.46sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29a7a2f390, in __cxa_throw ×2 + 10.46sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29a7a19a54, in std::terminate() ×2 + 10.46sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29a7a2f0d9, in ×2 + 10.46sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.46sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.46sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.46sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.46sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.46sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.46sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.46sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29a7a19ff4, in ×2 + 10.47sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29a775a8fe, in abort ×2 + 10.47sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29a777727d, in raise ×2 + 10.47sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29a77d0b2c, in pthread_kill ×2 + 10.47sERRORmove_groupAborted (Signal sent by tkill() 7631 0) ×2 + 10.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.47sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.47sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.47sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.47sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.47sINFOodom_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 + 10.47sINFOodom_qos_relay.pymain() ×2 + 10.47sINFOodom_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 + 10.47sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.47sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.47sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.47sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.47sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.47sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.47sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.47sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.47sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.48sERRORamclThe bond connection to the lifecycle manager has been broken + 10.52sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.53sINFOcontroller_serverCleaning up + 10.53sINFOlocal_costmap.local_costmapCleaning up + 10.57sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.57sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.57sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.57sINFOsmoother_serverDeactivating + 10.57sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.58sINFOsmoother_serverCleaning up + 10.59sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.60sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.60sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.60sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.60sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.60sINFOvelocity_smootherDeactivating + 10.60sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.60sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.60sINFOplanner_serverDeactivating + 10.60sINFOglobal_costmap.global_costmapDeactivating + 10.64sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.72sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.72sINFOwaypoint_followerDeactivating + 10.72sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.73sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.73sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.74sINFOplanner_serverCleaning up + 10.76sINFOglobal_costmap.global_costmapCleaning up + 10.77sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.77sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.80sINFObehavior_serverDeactivating + 10.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.81sINFObehavior_serverCleaning up + 10.82sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.82sINFObt_navigatorDeactivating + 10.82sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.83sINFObt_navigatorCleaning up + 10.83sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.84sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.84sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 10.84sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.87sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.87sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.87sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.87sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.88sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.88sINFOvelocity_smootherCleaning up + 10.88sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.88sINFOwaypoint_followerCleaning up + 10.91sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.93sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.93sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.93sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.93sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.93sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.98sINFObt_navigatorCompleted Cleaning up + 10.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.29sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7716] ×2 + 11.29sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.31sERRORcomponent_container_isolated-1process has died [pid 7523, 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_m3i7_g7r --params-file /tmp/launch_params_ragox_uw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.35sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7681] ×2 + 11.37sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7680] ×2 + 11.38sINFOui_teleop_bridge-33process has finished cleanly [pid 7696] ×2 + 11.39sINFOexecute_objective_bridge-32process has finished cleanly [pid 7691] ×2 + 11.40sINFOcomponent_container_mt-31process has finished cleanly [pid 7684] ×2 + 11.40sINFOparameter_manager_node-25process has finished cleanly [pid 7678] ×2 + 11.42sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7614] ×2 + 11.43sINFOwaypoint_manager_node-26process has finished cleanly [pid 7679] ×2 + 11.43sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7613] ×2 + 11.44sINFOstatic_transform_publisher-9process has finished cleanly [pid 7531] ×2 + 11.44sINFOstatic_transform_publisher-8process has finished cleanly [pid 7530] ×2 + 11.45sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.45sINFOlidar_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 + 11.45sINFOlidar_flattener.pymain() ×2 + 11.45sINFOlidar_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 + 11.45sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.45sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.45sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.45sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.45sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.45sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.45sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.45sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.45sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.45sINFOobjective_server_node[2026-09-09 00:48:05.612] [moveit_pro_license] [critical] ×2 + 11.45sINFOobjective_server_node************************************************* ×4 + 11.45sINFOobjective_server_node* MoveIt Pro License ×2 + 11.45sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.48sINFOstatic_transform_publisher-4process has finished cleanly [pid 7526] ×2 + 11.49sINFOstatic_transform_publisher-3process has finished cleanly [pid 7525] ×2 + 11.52sERRORlidar_flattener.py-7process has died [pid 7529, 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_v3wx41l4']. ×2 + 11.53sINFOobjective_server_node_main-29process has finished cleanly [pid 7682] ×2 + 11.53sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.53sERRORodom_qos_relay.py-5process has died [pid 7527, 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 + 11.55sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7528] ×2 + 11.84sERRORcomponent_container_isolated-2process has died [pid 7524, 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_m3i7_g7r --params-file /tmp/launch_params_wihtd8zl -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.49sINFOcomponent_container_mt-30process has finished cleanly [pid 7683] ×2 + 13.10sINFOros2_control_node-12process has finished cleanly [pid 7615] ×2 + 13.33sINFOweb_bridge-34process has finished cleanly [pid 7697] ×2 + 13.33sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 94 warnings · 156 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614579 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614579 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653780 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653780 ms (missed cycles : 3).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293544 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293544 ms (missed cycles : 2).[0m ×2 + 2.40sINFOjoint_trajectory_controllerGoal reached, success! + 2.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 2.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788914719.89824724 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788914720.48030663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.811ms + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 8.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697716 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697716 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.58sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.244ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145655 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145655 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173411 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173411 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304164 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304164 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191488 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191488 ms (missed cycles : 2).[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.040ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756199 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756199 ms (missed cycles : 3).[0m ×2 + 8.80sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.334ms + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.797ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140419 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140419 ms (missed cycles : 2).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.700ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.195ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123578 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123578 ms (missed cycles : 4).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.860ms + 11.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.050ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622208 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622208 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.867ms + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038953 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038953 ms (missed cycles : 3).[0m ×2 + 13.36sINFOobjective_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 + 13.36sINFOjoint_trajectory_controllerGot request to cancel goal + 13.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.40sERRORobjective_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: 1788914730.86645913 seconds ×3 + 13.51sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.51sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 13.61sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.94sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.99sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788914731.45966530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.127ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968626 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968626 ms (missed cycles : 4).[0m ×2 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357900 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357900 ms (missed cycles : 3).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975062 ms (missed cycles : 3). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975062 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	8.0s	69 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901353 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901353 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634206 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634206 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477950 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477950 ms (missed cycles : 3).[0m ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788914635.00085282 seconds ×3 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580860 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580860 ms (missed cycles : 4).[0m ×2 + 11.38sWARNros2_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 + 11.40sWARNros2_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 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541494 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541494 ms (missed cycles : 3).[0m ×2 + 11.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788914636.58423853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.22sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248204 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248204 ms (missed cycles : 3).[0m ×2 + 12.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297974 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297974 ms (missed cycles : 4).[0m ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352047 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352047 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	62 warnings · 138 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118609 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118609 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938850 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938850 ms (missed cycles : 3).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189181 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189181 ms (missed cycles : 4).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788914796.04983521 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sWARNlocal_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. + 2.42sWARNlocal_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. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788914796.62914562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.787ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944996 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944996 ms (missed cycles : 3).[0m ×2 + 3.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350311 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350311 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250089 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250089 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 8.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 9.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.30sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 11.77sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 11.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	48 warnings · 144 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788914564.66468287 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 `Compute IK, Plan and Move` starting at time: 1788914565.24369884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.7983e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2 + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 7.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 9.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788914570.85383797 seconds ×3 + 9.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.66sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788914571.43788528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.935ms + 10.09sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 10.35sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4).[0m ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	29 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.297ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4).[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.978ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.204ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788914876.26231933 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914876.87302518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.260ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914877.47315598 seconds ×3 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914878.04552889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914878.63565969 seconds ×3 + 5.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770190 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770190 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	32 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788914667.79439092 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788914668.37806654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.764ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.16sINFOobjective_server_nodecaller: ×10 + 1.16sINFOobjective_server_nodetype: 0 ×10 + 1.16sINFOobjective_server_nodename: "" ×10 + 1.16sINFOobjective_server_nodeinstance_id: "" ×10 + 1.16sINFOobjective_server_node ×10 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.22sINFOmove_groupClearing octomap...[0m ×2 + 1.22sINFOmove_groupOctomap cleared.[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.75sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	29 warnings · 70 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788914564.66468287 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788914565.24369884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.7983e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	29 warnings · 70 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396807 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010497 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619691 ms (missed cycles : 3).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788914564.66468287 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908017 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788914565.24369884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212867 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.7983e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOjoint_trajectory_controllerReceived new action goal + 4.76sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678376 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860711 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125357 ms (missed cycles : 4).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001146 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788914570.85383797 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788914571.43788528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275807 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.935ms + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.85sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727883 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032145 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	41 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909484 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840671 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110611 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674368 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788914627.95803571 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_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. ×6 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788914628.54070950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547064 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697554 ms (missed cycles : 2).[0m ×2 + 6.21sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594105 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	32 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788914667.79439092 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788914668.37806654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.764ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	32 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254151 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.684ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189558 ms (missed cycles : 5).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561504 ms (missed cycles : 2).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788914667.79439092 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399904 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788914668.37806654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.764ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402464 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118614 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873333 ms (missed cycles : 4).[0m ×2 + 0.21sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814828 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169112 ms (missed cycles : 3).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788914802.49929643 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788914803.08312106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424691 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454558 ms (missed cycles : 4).[0m ×2 + 5.41sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810712 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.297ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659891 ms (missed cycles : 4).[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.978ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.204ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524874 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291740 ms (missed cycles : 2).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788914876.26231933 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914876.87302518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.260ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832191 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914877.47315598 seconds ×3 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914878.04552889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486018 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914878.63565969 seconds ×3 + 5.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412709 ms (missed cycles : 3).[0m ×2 + 5.68sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 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/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 2.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.35sINFOobjective_server_nodecaller: ×10 + 3.35sINFOobjective_server_nodetype: 0 ×10 + 3.35sINFOobjective_server_nodename: "" ×10 + 3.35sINFOobjective_server_nodeinstance_id: "" ×10 + 3.35sINFOobjective_server_node ×10 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 7.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 300 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814694 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 2.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.35sINFOobjective_server_nodecaller: ×10 + 3.35sINFOobjective_server_nodetype: 0 ×10 + 3.35sINFOobjective_server_nodename: "" ×10 + 3.35sINFOobjective_server_nodeinstance_id: "" ×10 + 3.35sINFOobjective_server_node ×10 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879492 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.24sINFOmove_groupClearing octomap...[0m ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147788 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202576 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.33sINFOobjective_server_nodecaller: ×10 + 1.33sINFOobjective_server_nodetype: 0 ×10 + 1.33sINFOobjective_server_nodename: "" ×10 + 1.33sINFOobjective_server_nodeinstance_id: "" ×10 + 1.33sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914519.09767103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.38sINFOmove_groupClearing octomap...[0m ×2 + 1.38sINFOmove_groupOctomap cleared.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914519.10802031 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914519.69062400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914519.70074797 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241183 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914520.27269149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914520.42329741 seconds ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914521.02237487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354776 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914521.06251311 seconds ×3 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788914521.64479780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430046 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098497 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707964 ms (missed cycles : 3).[0m ×2