MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.5s	12 errors · 321 warnings · 1522 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-10-22-46-18-741432-a482752f22fa-7539 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.14sINFOstatic_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' + 4.14sINFOstatic_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' + 4.14sINFOstatic_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' + 4.15sINFOstatic_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' + 4.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.19sINFOcontroller_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. + 4.23sINFOcontroller_serverCreating controller server + 4.26sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.26sINFOlocal_costmap.local_costmapCreating Costmap + 4.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.32sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.37sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.41sINFOsmoother_serverCreating smoother server + 4.42sINFOros2_control_node-12process started with pid [7681] ×2 + 4.42sINFOmove_group-24process started with pid [7693] ×2 + 4.42sINFOparameter_manager_node-25process started with pid [7736] ×2 + 4.42sINFOwaypoint_manager_node-26process started with pid [7737] ×2 + 4.42sINFOmove_joint_resampler_node-27process started with pid [7739] ×2 + 4.42sINFOmove_end_effector_resampler_node-28process started with pid [7751] ×2 + 4.42sINFOobjective_server_node_main-29process started with pid [7752] ×2 + 4.42sINFOcomponent_container_mt-30process started with pid [7753] ×2 + 4.42sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.42sINFOcomponent_container_mt-31process started with pid [7754] ×2 + 4.42sINFOexecute_objective_bridge-32process started with pid [7755] ×2 + 4.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.44sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.44sINFOui_teleop_bridge-33process started with pid [7756] ×2 + 4.44sINFOweb_bridge-34process started with pid [7757] ×2 + 4.44sINFOtf2_web_republisher_node-35process started with pid [7758] ×2 + 4.44sINFOvideo_server-36process started with pid [7770] ×2 + 4.44sINFOweb_bridge_auth_proxy-37process started with pid [7771] ×2 + 4.44sINFOweb_video_auth_proxy-38process started with pid [7780] ×2 + 4.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.45sINFOcomponent_container_isolated-1process started with pid [7589] ×2 + 4.45sINFOcomponent_container_isolated-2process started with pid [7590] ×2 + 4.45sINFOstatic_transform_publisher-3process started with pid [7591] ×2 + 4.45sINFOstatic_transform_publisher-4process started with pid [7592] ×2 + 4.45sINFOodom_qos_relay.py-5process started with pid [7593] ×2 + 4.45sINFOforward_stereo_publisher.py-6process started with pid [7594] ×2 + 4.45sINFOlidar_flattener.py-7process started with pid [7595] ×2 + 4.45sINFOstatic_transform_publisher-8process started with pid [7596] ×2 + 4.45sINFOstatic_transform_publisher-9process started with pid [7597] ×2 + 4.45sINFOscan_to_scan_filter_chain-10process started with pid [7679] ×2 + 4.45sINFOscan_to_scan_filter_chain-11process started with pid [7680] ×2 + 4.45sINFOros2-13process started with pid [7682] ×2 + 4.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.46sINFOros2-14process started with pid [7683] ×2 + 4.46sINFOros2-15process started with pid [7684] ×2 + 4.46sINFOros2-16process started with pid [7685] ×2 + 4.46sINFOros2-17process started with pid [7686] ×2 + 4.46sINFOros2-18process started with pid [7687] ×2 + 4.46sINFOros2-19process started with pid [7688] ×2 + 4.46sINFOros2-20process started with pid [7689] ×2 + 4.46sINFOros2-21process started with pid [7690] ×2 + 4.46sINFOros2-22process started with pid [7691] ×2 + 4.46sINFOros2-23process started with pid [7692] ×2 + 4.47sINFOmap_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. + 4.47sINFOmap_serverCreating + 4.49sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.51sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.51sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.51sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.51sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.51sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.51sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.51sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.51sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.51sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.51sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.51sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.51sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.51sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.51sINFOplanner_serverCreating + 4.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.59sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.59sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.60sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.60sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.60sINFOglobal_costmap.global_costmapCreating Costmap + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.62sINFOlifecycle_manager_localizationCreating + 4.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.64sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.65sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.66sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.66sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.66sINFOmap_serverConfiguring + 4.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.67sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.67sINFOcontroller_managerupdate rate is 600 Hz + 4.67sINFOcontroller_managerOverruns handling is : enabled + 4.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.67sWARNcontroller_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. + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNros2_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 + 4.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.73sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.73sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.73sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.74sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.74sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.74sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.74sINFOamclConfiguring + 4.74sINFOrobot_state_publisherRobot initialized + 4.74sINFOcontroller_managerReceived robot description from topic. + 4.74sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.75sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.75sINFOmap_serverActivating + 4.75sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.75sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.75sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.76sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.78sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.79sINFObt_navigatorCreating + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.82sINFOvideo_server2026/09/10 22:46:25 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.82sINFOvideo_server2026/09/10 22:46:25 INF configuration loaded from /tmp/moveit-webrtc-1wk44nmv/mediamtx.yml ×2 + 4.82sINFOvideo_server2026/09/10 22:46:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.82sINFOvideo_server2026/09/10 22:46:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.85sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.85sINFOwaypoint_followerCreating + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996369 ms (missed cycles : 2). + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996369 ms (missed cycles : 2).[0m ×2 + 4.87sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.87sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.87sINFOamclActivating + 4.87sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.87sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.88sINFOamclSubscribed to map_topic: /map + 4.89sINFOamclSubscribed to scan_topic: /scan_merged + 4.89sINFOamclCreated reinitialize_global_localization service + 4.89sINFOamclCreated request_nomotion_update service + 4.90sINFOamclA new map was received + 4.90sINFOamclInitializing particle filter instance + 4.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.91sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.94sINFOlifecycle_manager_navigationCreating + 4.97sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.349945 seconds + 4.97sINFOmove_groupLoaded robot model in 0.349945 seconds[0m ×2 + 4.97sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.98sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.98sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.98sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.98sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.00sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.00sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.00sINFOcontroller_serverConfiguring controller interface + 5.00sINFOcontroller_servergetting progress checker plugins.. + 5.00sINFOcontroller_servergetting goal checker plugins.. + 5.00sINFOcontroller_serverController frequency set to 20.0000Hz + 5.00sINFOlocal_costmap.local_costmapConfiguring + 5.01sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.03sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.07sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.07sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.08sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.12sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.12sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.13sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.13sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.14sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.16sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.17sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.17sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.19sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.19sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.19sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.19sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.19sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.19sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.21sINFOcontroller_serverOptimizer reset ×2 + 5.24sINFOcontroller_serverController Server has FollowPath controllers available. + 5.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.27sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.27sINFOsmoother_serverConfiguring smoother server + 5.28sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.29sWARNlaser_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. + 5.29sWARNscan_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 + 5.29sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.30sWARNlaser_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. + 5.31sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.31sINFOplanner_serverConfiguring + 5.31sINFOglobal_costmap.global_costmapConfiguring + 5.32sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.34sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.34sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.34sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.34sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.38sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.38sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.39sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.44sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.44sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.44sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.45sINFOplanner_serverPlanner Server has GridBased planners available. + 5.48sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.48sINFObehavior_serverConfiguring + 5.50sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.51sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.52sINFOamclParticle filter initialization completed + 5.52sINFOamclInitializing particles from estimated pose and covariance + 5.52sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.54sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.54sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.55sINFObehavior_serverConfiguring spin + 5.58sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.58sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.58sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.59sINFObehavior_serverConfiguring backup + 5.61sINFObehavior_serverConfiguring drive_on_heading + 5.61sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.61sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.61sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.63sINFObehavior_serverConfiguring assisted_teleop + 5.63sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.65sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.66sINFObehavior_serverConfiguring wait + 5.66sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.66sINFObt_navigatorConfiguring + 5.67sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.70sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.90sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.97sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.97sINFOwaypoint_followerConfiguring + 6.01sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.02sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.02sINFOvelocity_smootherConfiguring velocity smoother + 6.02sINFOmove_group[2026-09-10 22:46:26.359] [moveit_pro_license] [info] ×2 + 6.02sINFOmove_group************************************************* ×4 + 6.02sINFOmove_group* MoveIt Pro License ×2 + 6.02sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.03sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.03sINFOcontroller_serverActivating + 6.03sINFOlocal_costmap.local_costmapActivating + 6.03sINFOlocal_costmap.local_costmapChecking transform + 6.03sINFOlocal_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. ×9 + 6.30sINFOwaypoint_manager_nodeLoaded robot model in 0.396513 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 + 6.34sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.34sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.34sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.37sINFOros2_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 + 6.37sINFOros2_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 + 6.42sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.42sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.42sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.43sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.43sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.43sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.43sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.43sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.43sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.43sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.43sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.43sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.43sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.43sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.43sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266496 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266496 ms (missed cycles : 2).[0m ×2 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sINFOwaypoint_manager_node[2026-09-10 22:46:27.365] [moveit_pro_license] [info] ×2 + 7.03sINFOwaypoint_manager_node************************************************* ×4 + 7.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.19sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.19sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.19sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.19sWARNros2_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 + 7.19sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.19sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.19sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.19sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.19sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.20sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.20sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.20sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.20sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.20sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.20sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.20sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.20sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.20sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.20sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.20sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.20sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.20sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.20sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.20sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.20sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.20sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.20sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.20sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.20sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.36sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.36sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 7.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 7.48sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.48sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.48sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130007 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130007 ms (missed cycles : 2).[0m ×2 + 7.50sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.50sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.84sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 7.84sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 7.84sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 7.84sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 7.84sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 7.84sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 7.87sINFOros2-19process has finished cleanly [pid 7688] ×2 + 7.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 7.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 7.89sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 7.89sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 7.90sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 7.90sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 7.90sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.90sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 7.90sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 7.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.94sWARNcomponent_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 + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.07sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.09sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.09sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.09sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.09sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.09sINFOstreaming_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) + 8.09sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.09sINFOcomponent_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 + 8.10sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.16sINFOobjective_server_node[2026-09-10 22:46:28.496] [moveit_pro_license] [info] ×2 + 8.16sINFOobjective_server_node************************************************* ×4 + 8.16sINFOobjective_server_node* MoveIt Pro License ×2 + 8.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.22sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.22sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.22sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.22sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.23sINFOcomponent_container_mtLoaded robot model in 0.285744 seconds[0m ×2 + 8.23sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.23sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.24sINFOros2-14process has finished cleanly [pid 7683] ×2 + 8.24sINFOobjective_server_nodeLoaded robot model in 0.0390508 seconds[0m ×2 + 8.24sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.24sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.31sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.33sINFOstreaming_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) + 8.33sINFOcomponent_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 + 8.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.36sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 8.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 8.41sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.41sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.43sINFOmove_groupMoveGroup debug mode is ON + 8.43sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.57sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 8.57sINFOmove_group ×8 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205313 ms (missed cycles : 2). + 8.57sINFOmove_group****************************************************** ×4 + 8.57sINFOmove_group* MoveGroup using: ×2 + 8.57sINFOmove_group* - apply_planning_scene_service ×2 + 8.57sINFOmove_group* - clear_octomap_service ×2 + 8.57sINFOmove_group* - get_group_urdf ×2 + 8.57sINFOmove_group* - load_geometry_from_file ×2 + 8.57sINFOmove_group* - get_planning_scene_service ×2 + 8.57sINFOmove_group* - kinematics_service ×2 + 8.57sINFOmove_group* - save_geometry_to_file ×2 + 8.57sINFOmove_group* - GetPlanningGroups ×2 + 8.57sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.57sINFOmove_group[0m ×2 + 8.57sINFOmove_group[92mYou can start planning now![0m ×2 + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205313 ms (missed cycles : 2).[0m ×2 + 8.77sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.77sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNobjective_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. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNobjective_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. + 8.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.78sWARNobjective_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 + 8.79sWARNobjective_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. + 8.79sWARNobjective_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. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.79sWARNobjective_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. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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. + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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 + 8.79sWARNobjective_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 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.79sWARNobjective_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 + 8.79sWARNobjective_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 + 8.89sINFOobjective_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 + 8.91sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.93sINFOros2_control_node[2026-09-10 22:46:29.272] [info] Controller state will be published at 20 Hz. ×2 + 8.93sINFOros2_control_node[2026-09-10 22:46:29.273] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.98sINFOcomponent_container_mt[2026-09-10 22:46:29.322] [moveit_pro_license] [info] ×2 + 8.98sINFOcomponent_container_mt************************************************* ×4 + 8.98sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.98sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.26sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.26sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.26sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 9.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 9.29sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.30sINFOros2-23process has finished cleanly [pid 7692] ×2 + 9.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.32sINFOforce_torque_sensor_broadcasterconfigure successful + 9.33sINFOros2_control_nodeconfigure successful[0m ×6 + 9.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.34sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.34sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.53sWARNros2_control_nodeCamera render tick took 1.12 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.56sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.56sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.56sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.56sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.64sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 9.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 9.65sINFOros2-13process has finished cleanly [pid 7682] ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980522 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980522 ms (missed cycles : 2).[0m ×2 + 9.70sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.70sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.70sINFOplatform_velocity_controller_nav2configure successful + 10.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 10.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 10.02sINFOros2-18process has finished cleanly [pid 7687] ×2 + 10.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.16sWARNros2_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 + 10.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 10.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 10.41sINFOros2-15process has finished cleanly [pid 7684] ×2 + 10.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.54sINFOlocal_costmap.local_costmapstart + 10.58sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789080388.748 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.64sWARNcontroller_serverParameter controller_server.verbose not found + 10.64sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.74sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 4.976ms + 10.75sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.75sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.75sINFOsmoother_serverActivating + 10.75sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650627 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650627 ms (missed cycles : 3).[0m ×2 + 10.86sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.86sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.86sINFOplanner_serverActivating + 10.86sINFOglobal_costmap.global_costmapActivating + 10.86sINFOglobal_costmap.global_costmapChecking transform + 10.86sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789080391.145049, but only time 1789080391.498929 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 10.86sINFOros2_control_node[2026-09-10 22:46:31.198] [info] Controller state will be published at 20 Hz. ×2 + 10.86sINFOros2_control_node[2026-09-10 22:46:31.199] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.88sWARNobjective_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 + 11.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.19sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.19sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.19sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.19sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 11.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 11.20sINFOros2-22process has finished cleanly [pid 7691] ×2 + 11.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.24sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.24sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.26sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.26sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 11.36sINFOglobal_costmap.global_costmapstart + 11.58sINFOros2-17process has finished cleanly [pid 7686] ×2 + 11.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.65sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.67sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789080391.064 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.74sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 11.74sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 11.78sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.78sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.79sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940882 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940882 ms (missed cycles : 2).[0m ×2 + 12.41sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.41sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.51sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.51sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.52sINFObehavior_serverActivating + 12.52sINFObehavior_serverActivating spin + 12.52sINFObehavior_serverActivating backup + 12.52sINFObehavior_serverActivating drive_on_heading + 12.52sINFObehavior_serverActivating assisted_teleop + 12.52sINFObehavior_serverActivating wait + 12.52sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.62sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.62sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.62sINFObt_navigatorActivating + 12.68sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.78sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.78sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.78sINFOwaypoint_followerActivating + 12.78sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.89sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.89sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.89sINFOvelocity_smootherActivating + 12.89sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.91sINFOros2_control_node[2026-09-10 22:46:33.249] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.91sINFOros2_control_node[2026-09-10 22:46:33.251] [info] Controller state will be published at 10 Hz. ×2 + 12.91sINFOros2_control_node[2026-09-10 22:46:33.252] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699755 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699755 ms (missed cycles : 3).[0m ×2 + 12.99sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.99sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.99sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 13.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 13.26sINFOros2-21process has finished cleanly [pid 7690] ×2 + 13.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 13.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 13.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.72sINFOros2_control_node[2026-09-10 22:46:34.059] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.72sINFOros2_control_node[2026-09-10 22:46:34.060] [info] Controller state will be published at 10 Hz. ×2 + 13.72sINFOros2_control_node[2026-09-10 22:46:34.062] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100316 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100316 ms (missed cycles : 2).[0m ×2 + 14.06sINFOros2-20process has finished cleanly [pid 7689] ×2 + 14.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.07sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.07sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.07sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 + 14.07sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7ss3hvl9 --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_o3d3vtp2 --params-file /tmp/launch_params_tkj9gj56 [0m ×2 + 14.12sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 14.12sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 14.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.13sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.13sINFOplatform_velocity_controllerconfigure successful + 14.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.14sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.14sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.45sINFOros2-16process has finished cleanly [pid 7685] ×2 + 14.76sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237512 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237512 ms (missed cycles : 2).[0m ×2 + 15.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 17.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 19.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.44sINFOobjective_server_nodecaller: ×10 + 19.44sINFOobjective_server_nodetype: 0 ×10 + 19.44sINFOobjective_server_nodename: "" ×10 + 19.44sINFOobjective_server_nodeinstance_id: "" ×10 + 19.44sINFOobjective_server_node ×10 + 19.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.49sINFOmove_groupClearing octomap...[0m ×2 + 19.49sINFOmove_groupOctomap cleared.[0m ×2 + 19.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 20.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 20.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 20.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 20.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 21.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 21.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.42sINFOobjective_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 + 21.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 21.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 22.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 22.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 22.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 22.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 22.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 22.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 22.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[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	65.0s	3 errors · 285 warnings · 254 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277268 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.862ms + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772127 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772127 ms (missed cycles : 3).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318095 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318095 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_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 ×6 + 2.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.001ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260910 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260910 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOjoint_trajectory_controllerGot request to cancel goal + 3.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1789080610.26492023 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_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 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_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 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sWARNros2_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 ×8 + 3.28sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 11.474ms + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789080610.85464811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467841 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467841 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040432 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040432 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031539 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031539 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540540 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540540 ms (missed cycles : 3).[0m ×2 + 8.32sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094325 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094325 ms (missed cycles : 2).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.831ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309387 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309387 ms (missed cycles : 2).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 10.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728048 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728048 ms (missed cycles : 2).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 11.56sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 7.915ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485141 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485141 ms (missed cycles : 2).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 5.739ms + 12.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 12.63sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.444ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059090 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059090 ms (missed cycles : 2).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms ×2 + 13.68sWARNros2_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 + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903766 ms (missed cycles : 3). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903766 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231475 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231475 ms (missed cycles : 2).[0m ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667570 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667570 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560810 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560810 ms (missed cycles : 2).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 18.11sWARNros2_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 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637691 ms (missed cycles : 3). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637691 ms (missed cycles : 3).[0m ×2 + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms ×2 + 19.18sWARNros2_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 ×8 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028440 ms (missed cycles : 2). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028440 ms (missed cycles : 2).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502958 ms (missed cycles : 3). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502958 ms (missed cycles : 3).[0m ×2 + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266467 ms (missed cycles : 4). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266467 ms (missed cycles : 4).[0m ×2 + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681866 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681866 ms (missed cycles : 3).[0m ×2 + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012680 ms (missed cycles : 5). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012680 ms (missed cycles : 5).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909568 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909568 ms (missed cycles : 2).[0m ×2 + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127691 ms (missed cycles : 4). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127691 ms (missed cycles : 4).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107522 ms (missed cycles : 3). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107522 ms (missed cycles : 3).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350364 ms (missed cycles : 3). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350364 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500771 ms (missed cycles : 4). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500771 ms (missed cycles : 4).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716246 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716246 ms (missed cycles : 2).[0m ×2 + 30.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746364 ms (missed cycles : 4). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746364 ms (missed cycles : 4).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648340 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648340 ms (missed cycles : 3).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 33.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016142 ms (missed cycles : 4). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016142 ms (missed cycles : 4).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738085 ms (missed cycles : 5). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738085 ms (missed cycles : 5).[0m ×2 + 34.39sWARNros2_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 + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 34.84sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.84sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.17sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717662 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717662 ms (missed cycles : 2).[0m ×2 + 36.06sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066049 ms (missed cycles : 5). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066049 ms (missed cycles : 5).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744969 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744969 ms (missed cycles : 3).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656128 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656128 ms (missed cycles : 2).[0m ×2 + 39.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 39.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4).[0m ×2 + 40.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764317 ms (missed cycles : 5). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764317 ms (missed cycles : 5).[0m ×2 + 41.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003350 ms (missed cycles : 5). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003350 ms (missed cycles : 5).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493824 ms (missed cycles : 2). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493824 ms (missed cycles : 2).[0m ×2 + 43.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685426 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685426 ms (missed cycles : 3).[0m ×2 + 45.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912057 ms (missed cycles : 4). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912057 ms (missed cycles : 4).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187417 ms (missed cycles : 4). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187417 ms (missed cycles : 4).[0m ×2 + 46.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740102 ms (missed cycles : 3). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740102 ms (missed cycles : 3).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373481 ms (missed cycles : 2). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373481 ms (missed cycles : 2).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 49.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611208 ms (missed cycles : 4). + 49.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611208 ms (missed cycles : 4).[0m ×2 + 49.92sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836980 ms (missed cycles : 2). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836980 ms (missed cycles : 2).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440324 ms (missed cycles : 4). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440324 ms (missed cycles : 4).[0m ×2 + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725996 ms (missed cycles : 2). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725996 ms (missed cycles : 2).[0m ×2 + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198067 ms (missed cycles : 4). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198067 ms (missed cycles : 4).[0m ×2 + 54.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 55.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583803 ms (missed cycles : 3). + 55.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583803 ms (missed cycles : 3).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723368 ms (missed cycles : 3). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723368 ms (missed cycles : 3).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350842 ms (missed cycles : 2). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350842 ms (missed cycles : 2).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198087 ms (missed cycles : 5). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198087 ms (missed cycles : 5).[0m ×2 + 58.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884285 ms (missed cycles : 3). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884285 ms (missed cycles : 3).[0m ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751150 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751150 ms (missed cycles : 3).[0m ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148080 ms (missed cycles : 3). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148080 ms (missed cycles : 3).[0m ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390673 ms (missed cycles : 3). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390673 ms (missed cycles : 3).[0m ×2 + 63.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 63.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588243 ms (missed cycles : 3). + 63.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588243 ms (missed cycles : 3).[0m ×2 + 64.74sWARNros2_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 + 64.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724706 ms (missed cycles : 3). + 64.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724706 ms (missed cycles : 3).[0m ×2 + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026122 ms (missed cycles : 2). + 65.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026122 ms (missed cycles : 2).[0m ×2 + 66.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 66.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929663 ms (missed cycles : 3). + 66.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929663 ms (missed cycles : 3).[0m ×2 + 67.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 68.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793087 ms (missed cycles : 2). + 68.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793087 ms (missed cycles : 2).[0m ×2 + 68.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789080675.24482656 seconds ×3 + 68.30sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.30sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.70sWARNlocal_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. ×5 + 68.70sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.72sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789080675.82404423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827095 ms (missed cycles : 2). + 69.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827095 ms (missed cycles : 2).[0m ×2 + 69.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.232ms + 70.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617128 ms (missed cycles : 2). + 70.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617128 ms (missed cycles : 2).[0m ×2 + 70.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 71.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638440 ms (missed cycles : 3). + 71.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638440 ms (missed cycles : 3).[0m ×2 + 71.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	242 warnings · 208 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 1.06sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789080451.52259493 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789080452.10009646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.329ms + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068432 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068432 ms (missed cycles : 2).[0m ×2 + 7.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634300 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634300 ms (missed cycles : 3).[0m ×2 + 8.12sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.019ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475388 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475388 ms (missed cycles : 3).[0m ×2 + 8.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 4.400ms + 9.78sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 3.075ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410682 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410682 ms (missed cycles : 2).[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 10.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807326 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807326 ms (missed cycles : 2).[0m ×2 + 11.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138599 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138599 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 12.50sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291253 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291253 ms (missed cycles : 4).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196783 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196783 ms (missed cycles : 2).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900076 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900076 ms (missed cycles : 2).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732910 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732910 ms (missed cycles : 2).[0m ×2 + 16.52sWARNros2_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 + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956294 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956294 ms (missed cycles : 2).[0m ×2 + 17.67sWARNros2_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 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734531 ms (missed cycles : 6). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734531 ms (missed cycles : 6).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182153 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182153 ms (missed cycles : 2).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394181 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394181 ms (missed cycles : 3).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 21.68sWARNros2_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 ×4 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255063 ms (missed cycles : 4). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255063 ms (missed cycles : 4).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468294 ms (missed cycles : 5). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468294 ms (missed cycles : 5).[0m ×2 + 22.80sWARNros2_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 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992031 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992031 ms (missed cycles : 2).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223517 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223517 ms (missed cycles : 2).[0m ×2 + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839619 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839619 ms (missed cycles : 2).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096915 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096915 ms (missed cycles : 3).[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772686 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772686 ms (missed cycles : 3).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259946 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259946 ms (missed cycles : 2).[0m ×2 + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097867 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097867 ms (missed cycles : 3).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021621 ms (missed cycles : 4). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021621 ms (missed cycles : 4).[0m ×2 + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685669 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685669 ms (missed cycles : 2).[0m ×2 + 32.14sWARNros2_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 + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019998 ms (missed cycles : 4). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019998 ms (missed cycles : 4).[0m ×2 + 33.32sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 34.16sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308560 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308560 ms (missed cycles : 3).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949732 ms (missed cycles : 4). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949732 ms (missed cycles : 4).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281671 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281671 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698650 ms (missed cycles : 5). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698650 ms (missed cycles : 5).[0m ×2 + 37.47sWARNros2_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 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253693 ms (missed cycles : 5). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253693 ms (missed cycles : 5).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228919 ms (missed cycles : 3). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228919 ms (missed cycles : 3).[0m ×2 + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066947 ms (missed cycles : 2). + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066947 ms (missed cycles : 2).[0m ×2 + 41.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167927 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167927 ms (missed cycles : 2).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896817 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896817 ms (missed cycles : 2).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086496 ms (missed cycles : 5). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086496 ms (missed cycles : 5).[0m ×2 + 43.98sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 44.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114293 ms (missed cycles : 5). + 44.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114293 ms (missed cycles : 5).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665951 ms (missed cycles : 4). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665951 ms (missed cycles : 4).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630679 ms (missed cycles : 4). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630679 ms (missed cycles : 4).[0m ×2 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861725 ms (missed cycles : 4). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861725 ms (missed cycles : 4).[0m ×2 + 48.15sWARNros2_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 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643159 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643159 ms (missed cycles : 2).[0m ×2 + 49.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775120 ms (missed cycles : 3). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775120 ms (missed cycles : 3).[0m ×2 + 51.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124110 ms (missed cycles : 3). + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124110 ms (missed cycles : 3).[0m ×2 + 51.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 52.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973469 ms (missed cycles : 3). + 52.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973469 ms (missed cycles : 3).[0m ×2 + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715701 ms (missed cycles : 3). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715701 ms (missed cycles : 3).[0m ×2 + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715236 ms (missed cycles : 2). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715236 ms (missed cycles : 2).[0m ×2 + 54.67sWARNros2_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 + 55.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891839 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891839 ms (missed cycles : 3).[0m ×2 + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003673 ms (missed cycles : 2). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003673 ms (missed cycles : 2).[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 58.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 59.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 59.82sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.82sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.96sWARNros2_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 + 60.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 60.74sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 61.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 62.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 62.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	241 warnings · 204 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.99sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121610 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121610 ms (missed cycles : 3).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544829 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544829 ms (missed cycles : 3).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.759ms + 8.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131491 ms (missed cycles : 4). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131491 ms (missed cycles : 4).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.548ms + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.743ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560690 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560690 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.655ms + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.980ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.331ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178206 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178206 ms (missed cycles : 2).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.585ms + 12.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.497ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005922 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005922 ms (missed cycles : 2).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.938ms + 13.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.943ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927863 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927863 ms (missed cycles : 2).[0m ×2 + 14.10sWARNros2_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 ×6 + 14.12sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 7.330ms + 14.65sINFOamclParticle filter update iteration stats: 2753 particles 723 points - 5.970ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707679 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707679 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.639ms + 15.74sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.656ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162700 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162700 ms (missed cycles : 2).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 16.78sWARNros2_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 ×10 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586221 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586221 ms (missed cycles : 3).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583675 ms (missed cycles : 3). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583675 ms (missed cycles : 3).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 18.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966145 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966145 ms (missed cycles : 3).[0m ×2 + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188659 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188659 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms ×2 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263835 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263835 ms (missed cycles : 2).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061486 ms (missed cycles : 2). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061486 ms (missed cycles : 2).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186330 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186330 ms (missed cycles : 2).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952552 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952552 ms (missed cycles : 2).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 25.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786360 ms (missed cycles : 3). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786360 ms (missed cycles : 3).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178791 ms (missed cycles : 5). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178791 ms (missed cycles : 5).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 27.35sWARNros2_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 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773154 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773154 ms (missed cycles : 3).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981639 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981639 ms (missed cycles : 2).[0m ×2 + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132971 ms (missed cycles : 3). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132971 ms (missed cycles : 3).[0m ×2 + 30.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916048 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916048 ms (missed cycles : 3).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388350 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388350 ms (missed cycles : 2).[0m ×2 + 32.46sWARNros2_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 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258975 ms (missed cycles : 5). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258975 ms (missed cycles : 5).[0m ×2 + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694060 ms (missed cycles : 2). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694060 ms (missed cycles : 2).[0m ×2 + 34.39sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427889 ms (missed cycles : 4). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427889 ms (missed cycles : 4).[0m ×2 + 35.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808294 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808294 ms (missed cycles : 2).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800046 ms (missed cycles : 3). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800046 ms (missed cycles : 3).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422825 ms (missed cycles : 3). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422825 ms (missed cycles : 3).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489549 ms (missed cycles : 3). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489549 ms (missed cycles : 3).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443067 ms (missed cycles : 3). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443067 ms (missed cycles : 3).[0m ×2 + 41.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518465 ms (missed cycles : 3). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518465 ms (missed cycles : 3).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189076 ms (missed cycles : 2). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189076 ms (missed cycles : 2).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919009 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919009 ms (missed cycles : 2).[0m ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753622 ms (missed cycles : 2). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753622 ms (missed cycles : 2).[0m ×2 + 45.57sWARNros2_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 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328057 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328057 ms (missed cycles : 2).[0m ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688754 ms (missed cycles : 5). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688754 ms (missed cycles : 5).[0m ×2 + 47.80sWARNros2_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 + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605597 ms (missed cycles : 3). + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605597 ms (missed cycles : 3).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996500 ms (missed cycles : 2). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996500 ms (missed cycles : 2).[0m ×2 + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743387 ms (missed cycles : 2). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743387 ms (missed cycles : 2).[0m ×2 + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250334 ms (missed cycles : 3). + 51.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250334 ms (missed cycles : 3).[0m ×2 + 51.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756276 ms (missed cycles : 3). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756276 ms (missed cycles : 3).[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556813 ms (missed cycles : 4). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556813 ms (missed cycles : 4).[0m ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893137 ms (missed cycles : 4). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893137 ms (missed cycles : 4).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097822 ms (missed cycles : 5). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097822 ms (missed cycles : 5).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966868 ms (missed cycles : 2). + 56.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966868 ms (missed cycles : 2).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257830 ms (missed cycles : 2). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257830 ms (missed cycles : 2).[0m ×2 + 59.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601699 ms (missed cycles : 2). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601699 ms (missed cycles : 2).[0m ×2 + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 59.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789080738.76671696 seconds ×3 + 60.08sWARNlocal_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. ×2 + 60.08sWARNlocal_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. ×2 + 60.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954161 ms (missed cycles : 5). + 60.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954161 ms (missed cycles : 5).[0m ×2 + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.52sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789080739.35788941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.350ms + 60.93sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 61.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759485 ms (missed cycles : 3). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759485 ms (missed cycles : 3).[0m ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211495 ms (missed cycles : 3). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211495 ms (missed cycles : 3).[0m ×2 + 63.39sWARNros2_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 + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992187 ms (missed cycles : 2). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992187 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.5s	234 warnings · 221 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_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 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.82sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789080547.64285278 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789080548.22448230 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 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.06sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.06sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.06sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3).[0m ×2 + 6.85sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971402 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971402 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.877ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183801 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183801 ms (missed cycles : 2).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700901 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700901 ms (missed cycles : 5).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.051ms + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.724ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901351 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901351 ms (missed cycles : 3).[0m ×2 + 11.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 11.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.634ms + 11.85sWARNros2_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 + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.262ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166924 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166924 ms (missed cycles : 2).[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.950ms + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363073 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363073 ms (missed cycles : 3).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896061 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896061 ms (missed cycles : 2).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.816ms + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.083ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839927 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839927 ms (missed cycles : 3).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 7.842ms + 15.88sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 5.988ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691018 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691018 ms (missed cycles : 4).[0m ×2 + 16.48sWARNros2_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 + 16.49sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 5.151ms + 17.05sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.106ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607283 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607283 ms (missed cycles : 3).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.252ms + 18.22sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 3.021ms + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.719909 ms (missed cycles : 5). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.719909 ms (missed cycles : 5).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 3.617ms + 19.37sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.106ms + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182436 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182436 ms (missed cycles : 3).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.984ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797530 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797530 ms (missed cycles : 3).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572364 ms (missed cycles : 5). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572364 ms (missed cycles : 5).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 22.29sWARNros2_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 + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008264 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008264 ms (missed cycles : 2).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127933 ms (missed cycles : 5). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127933 ms (missed cycles : 5).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029752 ms (missed cycles : 4). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029752 ms (missed cycles : 4).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022867 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022867 ms (missed cycles : 3).[0m ×2 + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256460 ms (missed cycles : 4). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256460 ms (missed cycles : 4).[0m ×2 + 27.58sWARNros2_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 ×4 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820228 ms (missed cycles : 2). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820228 ms (missed cycles : 2).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438236 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438236 ms (missed cycles : 2).[0m ×2 + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811537 ms (missed cycles : 4). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811537 ms (missed cycles : 4).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846450 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846450 ms (missed cycles : 2).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 32.36sWARNros2_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 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035681 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035681 ms (missed cycles : 2).[0m ×2 + 32.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568195 ms (missed cycles : 3). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568195 ms (missed cycles : 3).[0m ×2 + 34.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666907 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666907 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616505 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616505 ms (missed cycles : 3).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655306 ms (missed cycles : 4). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655306 ms (missed cycles : 4).[0m ×2 + 37.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183389 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183389 ms (missed cycles : 2).[0m ×2 + 38.04sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608811 ms (missed cycles : 5). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608811 ms (missed cycles : 5).[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755096 ms (missed cycles : 3). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755096 ms (missed cycles : 3).[0m ×2 + 40.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 40.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972006 ms (missed cycles : 4). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972006 ms (missed cycles : 4).[0m ×2 + 41.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885416 ms (missed cycles : 3). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885416 ms (missed cycles : 3).[0m ×2 + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715016 ms (missed cycles : 3). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715016 ms (missed cycles : 3).[0m ×2 + 43.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 43.76sWARNros2_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 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074467 ms (missed cycles : 4). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074467 ms (missed cycles : 4).[0m ×2 + 44.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.446ms + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731691 ms (missed cycles : 3). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731691 ms (missed cycles : 3).[0m ×2 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863994 ms (missed cycles : 3). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863994 ms (missed cycles : 3).[0m ×2 + 46.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453597 ms (missed cycles : 3). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453597 ms (missed cycles : 3).[0m ×2 + 47.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 48.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002859 ms (missed cycles : 4). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002859 ms (missed cycles : 4).[0m ×2 + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 49.28sWARNros2_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 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102661 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102661 ms (missed cycles : 2).[0m ×2 + 50.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876712 ms (missed cycles : 3). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876712 ms (missed cycles : 3).[0m ×2 + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486337 ms (missed cycles : 3). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486337 ms (missed cycles : 3).[0m ×2 + 52.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316775 ms (missed cycles : 4). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316775 ms (missed cycles : 4).[0m ×2 + 53.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 53.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180612 ms (missed cycles : 4). + 53.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180612 ms (missed cycles : 4).[0m ×2 + 53.98sWARNros2_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 + 54.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789080599.19461322 seconds ×3 + 54.55sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 54.55sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 54.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512290 ms (missed cycles : 3). + 54.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512290 ms (missed cycles : 3).[0m ×2 + 55.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.01sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.05sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789080599.77414393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.025ms + 55.43sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 55.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341169 ms (missed cycles : 5). + 55.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341169 ms (missed cycles : 5).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065293 ms (missed cycles : 4). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065293 ms (missed cycles : 4).[0m ×2 + 58.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219545 ms (missed cycles : 2). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219545 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	177 warnings · 380 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.57sINFOmove_groupClearing octomap...[0m ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 2.32sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358256 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358256 ms (missed cycles : 3).[0m ×2 + 7.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×8 + 7.71sWARNros2_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 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919551 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919551 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671949 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671949 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721331 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721331 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642917 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642917 ms (missed cycles : 3).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225727 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225727 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184833 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184833 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.770ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935480 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935480 ms (missed cycles : 3).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599885 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599885 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269985 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269985 ms (missed cycles : 2).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035971 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035971 ms (missed cycles : 2).[0m ×2 + 17.88sWARNros2_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 + 18.42sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663787 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663787 ms (missed cycles : 2).[0m ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339491 ms (missed cycles : 2). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339491 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839542 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839542 ms (missed cycles : 2).[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905307 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905307 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631782 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631782 ms (missed cycles : 2).[0m ×2 + 23.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266886 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266886 ms (missed cycles : 3).[0m ×2 + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935868 ms (missed cycles : 3). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935868 ms (missed cycles : 3).[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632955 ms (missed cycles : 2). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632955 ms (missed cycles : 2).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883512 ms (missed cycles : 2). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883512 ms (missed cycles : 2).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803738 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803738 ms (missed cycles : 2).[0m ×2 + 28.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747707 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747707 ms (missed cycles : 2).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186605 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186605 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663032 ms (missed cycles : 4). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663032 ms (missed cycles : 4).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640711 ms (missed cycles : 4). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640711 ms (missed cycles : 4).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573208 ms (missed cycles : 3). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573208 ms (missed cycles : 3).[0m ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858191 ms (missed cycles : 3). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858191 ms (missed cycles : 3).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895278 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895278 ms (missed cycles : 2).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869047 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869047 ms (missed cycles : 2).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318582 ms (missed cycles : 2). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318582 ms (missed cycles : 2).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815942 ms (missed cycles : 3). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815942 ms (missed cycles : 3).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201724 ms (missed cycles : 4). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201724 ms (missed cycles : 4).[0m ×2 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309096 ms (missed cycles : 2). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309096 ms (missed cycles : 2).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166834 ms (missed cycles : 3). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166834 ms (missed cycles : 3).[0m ×2 + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2).[0m ×2 + 44.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4). + 44.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4).[0m ×2 + 44.75sWARNros2_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 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3).[0m ×2 + 46.15sINFOjoint_trajectory_controllerGoal reached, success! + 46.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789080445.42748809 seconds ×3 + 46.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2).[0m ×2 + 46.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789080446.00247478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3).[0m ×2 + 47.79sINFOobjective_server_nodeFound path in 0 iterations (2.2869e-05 s). ×2 + 47.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	154 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449816 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449816 ms (missed cycles : 4).[0m ×2 + 0.26sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159306 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159306 ms (missed cycles : 3).[0m ×2 + 1.33sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789080515.00015616 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885022 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885022 ms (missed cycles : 2).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971256 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971256 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789080516.57270026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205113 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205113 ms (missed cycles : 5).[0m ×2 + 4.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380560 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380560 ms (missed cycles : 3).[0m ×2 + 5.77sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655143 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655143 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084654 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084654 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.218ms + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991463 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991463 ms (missed cycles : 3).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570044 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570044 ms (missed cycles : 3).[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.468ms + 10.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.061ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523111 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523111 ms (missed cycles : 3).[0m ×2 + 11.21sWARNros2_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 + 11.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.693ms + 11.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215742 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215742 ms (missed cycles : 3).[0m ×2 + 12.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.876ms + 12.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.456ms + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191298 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191298 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.606ms + 14.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077390 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077390 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744657 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744657 ms (missed cycles : 2).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.871ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375406 ms (missed cycles : 4). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375406 ms (missed cycles : 4).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 9.553ms + 16.93sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 7.476ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933215 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933215 ms (missed cycles : 2).[0m ×2 + 17.47sWARNros2_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 + 17.51sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 8.383ms + 18.13sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 5.938ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609212 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609212 ms (missed cycles : 3).[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 6.599ms + 19.34sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 6.236ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896035 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896035 ms (missed cycles : 3).[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 4.451ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163346 ms (missed cycles : 2). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163346 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 4.211ms + 21.17sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.751ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853382 ms (missed cycles : 4). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853382 ms (missed cycles : 4).[0m ×2 + 21.75sWARNros2_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 + 21.76sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 3.251ms + 22.36sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.030ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445208 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445208 ms (missed cycles : 2).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768564 ms (missed cycles : 3). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768564 ms (missed cycles : 3).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.184425 ms (missed cycles : 6). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.184425 ms (missed cycles : 6).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333442 ms (missed cycles : 5). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333442 ms (missed cycles : 5).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315628 ms (missed cycles : 2). + 26.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315628 ms (missed cycles : 2).[0m ×2 + 27.08sWARNros2_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 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704315 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704315 ms (missed cycles : 2).[0m ×2 + 28.23sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383423 ms (missed cycles : 2). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383423 ms (missed cycles : 2).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225177 ms (missed cycles : 3). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225177 ms (missed cycles : 3).[0m ×2 + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891016 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891016 ms (missed cycles : 2).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3).[0m ×2 + 32.47sWARNros2_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 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3).[0m ×2 + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 33.68sWARNros2_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 + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2).[0m ×2 + 34.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789080547.64285278 seconds ×3 + 34.81sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.81sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 34.91sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.91sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2).[0m ×2 + 35.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789080548.22448230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 35.78sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2).[0m ×2 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.9s	96 warnings · 240 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966868 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966868 ms (missed cycles : 2).[0m ×2 + 1.03sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257830 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257830 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601699 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601699 ms (missed cycles : 2).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789080738.76671696 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.12sWARNlocal_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. ×2 + 3.12sWARNlocal_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. ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954161 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954161 ms (missed cycles : 5).[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.56sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.56sINFOobjective_server_nodecaller: ×6 + 3.56sINFOobjective_server_nodetype: 0 ×6 + 3.56sINFOobjective_server_nodename: "" ×6 + 3.56sINFOobjective_server_nodeinstance_id: "" ×6 + 3.56sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789080739.35788941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.350ms + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759485 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759485 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211495 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211495 ms (missed cycles : 3).[0m ×2 + 6.43sWARNros2_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 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992187 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992187 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669390 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669390 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000499 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000499 ms (missed cycles : 2).[0m ×2 + 9.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870181 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870181 ms (missed cycles : 2).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 10.14sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 10.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767920 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767920 ms (missed cycles : 3).[0m ×2 + 10.99sINFOobjective_server_nodeFound path in 33 iterations (0.0335068 s). ×2 + 11.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 11.69sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110646 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110646 ms (missed cycles : 2).[0m ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 12.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255832 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255832 ms (missed cycles : 2).[0m ×2 + 12.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137156 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137156 ms (missed cycles : 2).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585920 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585920 ms (missed cycles : 2).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.962ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.428ms + 16.83sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.953ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.437ms + 18.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789080754.69194126 seconds ×3 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2).[0m ×2 + 19.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080755.30914187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.56sINFOmove_groupClearing octomap...[0m ×2 + 19.56sINFOmove_groupOctomap cleared.[0m ×2 + 19.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 19.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.216ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3).[0m ×2 + 20.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080756.08927107 seconds ×3 + 20.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.88sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080756.66277623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4).[0m ×2 + 21.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080757.14289618 seconds ×3 + 21.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	104 errors · 33 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.953ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.437ms + 1.53sINFOjoint_trajectory_controllerGoal reached, success! + 1.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789080754.69194126 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.10sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.10sINFOobjective_server_nodecaller: ×4 + 2.10sINFOobjective_server_nodetype: 0 ×4 + 2.10sINFOobjective_server_nodename: "" ×4 + 2.10sINFOobjective_server_nodeinstance_id: "" ×4 + 2.10sINFOobjective_server_node ×4 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080755.30914187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.216ms + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080756.08927107 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080756.66277623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080757.14289618 seconds ×3 + 4.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941549 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941549 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251900 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251900 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414538 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414538 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992836 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992836 ms (missed cycles : 4).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.06sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.09sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORweb_video_auth_proxy-38process has died [pid 7780, 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 + 10.09sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.11sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge_auth_proxy-37process has died [pid 7771, 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 + 10.11sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.12sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.13sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.14sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.15sINFOvideo_server-36process has finished cleanly [pid 7770] ×2 + 10.15sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.16sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.17sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.18sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.19sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.20sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.21sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.23sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.24sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.25sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.25sINFOcontroller_managerShutdown request received.... + 10.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.26sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.26sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.26sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.26sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.26sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.26sINFOcontroller_managerShutting down the controller manager. + 10.26sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.27sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.28sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.28sERRORmove_group-24process has died [pid 7693, 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_qqg7c_k5 --params-file /tmp/launch_params_calu16iz --params-file /tmp/launch_params_gilw1rgx --params-file /tmp/launch_params_dtqp8fam --params-file /tmp/launch_params_8k_m_l14 --params-file /tmp/launch_params_d8nq1em5']. ×2 + 10.29sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.30sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.31sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.32sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.32sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.33sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.34sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.43sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.43sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.43sINFOmap_serverDeactivating + 10.43sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.44sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.44sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.44sINFOcontroller_serverDeactivating + 10.44sINFOlocal_costmap.local_costmapDeactivating + 10.44sINFOvideo_server2026/09/10 22:52:43 INF shutting down gracefully ×2 + 10.44sINFOvideo_server2026/09/10 22:52:43 INF [WebRTC] closing ×2 + 10.44sINFOvideo_server2026/09/10 22:52:43 INF [RTSP] closing ×2 + 10.44sINFOvideo_server2026/09/10 22:52:43 INF waiting for running hooks ×2 + 10.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.44sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.44sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.44sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.44sERRORmove_groupStack trace (most recent call last) in thread 8366: ×2 + 10.44sINFOmap_serverCleaning up + 10.44sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.44sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f14989f6a63, in __clone ×2 + 10.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.44sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1498969aa3, in ×2 + 10.44sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1498bfbdb3, in ×2 + 10.44sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f149935fb34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.44sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1498f8d620, in rclcpp::Rate::sleep() ×2 + 10.44sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1498ecfd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.44sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1498e91087, in ×2 + 10.44sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1498bca390, in __cxa_throw ×2 + 10.44sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1498bb4a54, in std::terminate() ×2 + 10.44sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1498bca0d9, in ×2 + 10.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.44sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1498bb4ff4, in ×2 + 10.44sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f14988f58fe, in abort ×2 + 10.44sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f149891227d, in raise ×2 + 10.44sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f149896bb2c, in pthread_kill ×2 + 10.44sERRORmove_groupAborted (Signal sent by tkill() 7693 0) ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.44sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.44sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.45sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pymain() ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.45sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.45sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.45sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.45sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.45sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.46sERRORamclThe bond connection to the lifecycle manager has been broken + 10.47sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.47sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.47sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.53sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.54sINFOcontroller_serverCleaning up + 10.55sINFOlocal_costmap.local_costmapCleaning up + 10.56sWARNros2_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 + 10.59sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.59sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.59sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.59sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.59sINFOsmoother_serverDeactivating + 10.59sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.59sINFOvelocity_smootherDeactivating + 10.59sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.60sINFOsmoother_serverCleaning up + 10.62sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.62sINFOplanner_serverDeactivating + 10.62sINFOglobal_costmap.global_costmapDeactivating + 10.71sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.71sINFOwaypoint_followerDeactivating + 10.71sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.82sINFObt_navigatorDeactivating + 10.82sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.93sINFObehavior_serverDeactivating + 10.93sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.04sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.05sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.05sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.05sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.05sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.05sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.05sINFOvelocity_smootherCleaning up + 11.05sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.05sINFOwaypoint_followerCleaning up + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.08sINFObt_navigatorCleaning up + 11.18sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7758] ×2 + 11.18sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.25sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7751] ×2 + 11.26sINFObt_navigatorCompleted Cleaning up + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.26sINFObehavior_serverCleaning up + 11.27sINFOui_teleop_bridge-33process has finished cleanly [pid 7756] ×2 + 11.27sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7739] ×2 + 11.28sINFOexecute_objective_bridge-32process has finished cleanly [pid 7755] ×2 + 11.28sINFOcomponent_container_mt-31process has finished cleanly [pid 7754] ×2 + 11.30sINFOparameter_manager_node-25process has finished cleanly [pid 7736] ×2 + 11.31sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7680] ×2 + 11.32sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7679] ×2 + 11.32sINFOwaypoint_manager_node-26process has finished cleanly [pid 7737] ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.32sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.32sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.32sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.33sINFOstatic_transform_publisher-9process has finished cleanly [pid 7597] ×2 + 11.34sINFOstatic_transform_publisher-8process has finished cleanly [pid 7596] ×2 + 11.34sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.34sINFOlidar_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 + 11.34sINFOlidar_flattener.pymain() ×2 + 11.34sINFOlidar_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 + 11.34sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.34sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.34sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.34sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.34sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.34sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.34sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.35sINFOobjective_server_node[2026-09-10 22:52:44.488] [moveit_pro_license] [critical] ×2 + 11.35sINFOobjective_server_node************************************************* ×4 + 11.35sINFOobjective_server_node* MoveIt Pro License ×2 + 11.35sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.37sINFOstatic_transform_publisher-4process has finished cleanly [pid 7592] ×2 + 11.39sINFOstatic_transform_publisher-3process has finished cleanly [pid 7591] ×2 + 11.39sERRORlidar_flattener.py-7process has died [pid 7595, 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_5ibfjyqw']. ×2 + 11.42sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7594] ×2 + 11.42sERRORodom_qos_relay.py-5process has died [pid 7593, 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 + 11.42sINFOobjective_server_node_main-29process has finished cleanly [pid 7752] ×2 + 11.42sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.56sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.56sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.57sINFOplanner_serverCleaning up + 11.58sINFOglobal_costmap.global_costmapCleaning up + 11.59sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.59sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.63sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.63sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.63sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.63sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.63sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.80sERRORcomponent_container_isolated-2process has died [pid 7590, 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_csg0apfm --params-file /tmp/launch_params_ldt15k37 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.95sERRORcomponent_container_isolated-1process has died [pid 7589, 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_csg0apfm --params-file /tmp/launch_params_f66k2ue6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.37sINFOcomponent_container_mt-30process has finished cleanly [pid 7753] ×2 + 12.99sINFOros2_control_node-12process has finished cleanly [pid 7681] ×2 + 13.20sINFOweb_bridge-34process has finished cleanly [pid 7757] ×2 + 13.20sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	3 errors · 85 warnings · 156 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486337 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486337 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316775 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316775 ms (missed cycles : 4).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180612 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180612 ms (missed cycles : 4).[0m ×2 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789080599.19461322 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sWARNros2_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 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.80sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512290 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512290 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789080599.77414393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.025ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341169 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341169 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065293 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065293 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219545 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219545 ms (missed cycles : 2).[0m ×2 + 7.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156325 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156325 ms (missed cycles : 3).[0m ×2 + 8.30sWARNros2_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 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262938 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262938 ms (missed cycles : 2).[0m ×2 + 9.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.204ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883956 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883956 ms (missed cycles : 2).[0m ×2 + 9.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.464ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.664ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277268 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277268 ms (missed cycles : 2).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.862ms + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772127 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772127 ms (missed cycles : 3).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318095 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318095 ms (missed cycles : 2).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.001ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260910 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260910 ms (missed cycles : 2).[0m ×2 + 13.77sINFOobjective_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 + 13.78sINFOjoint_trajectory_controllerGot request to cancel goal + 13.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.78sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.78sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.79sERRORobjective_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: 1789080610.26492023 seconds ×3 + 13.83sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 11.474ms + 13.90sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.90sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789080610.85464811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467841 ms (missed cycles : 4). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467841 ms (missed cycles : 4).[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040432 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040432 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031539 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031539 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	65 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449816 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449816 ms (missed cycles : 4).[0m ×2 + 6.67sWARNros2_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 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159306 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159306 ms (missed cycles : 3).[0m ×2 + 7.74sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.55sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789080515.00015616 seconds ×3 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885022 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885022 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971256 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971256 ms (missed cycles : 2).[0m ×2 + 10.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789080516.57270026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205113 ms (missed cycles : 5). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205113 ms (missed cycles : 5).[0m ×2 + 11.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380560 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380560 ms (missed cycles : 3).[0m ×2 + 12.18sWARNros2_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 + 12.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655143 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655143 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	64 warnings · 138 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 0.54sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026122 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026122 ms (missed cycles : 2).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929663 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929663 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793087 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793087 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.87sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789080675.24482656 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_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 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) 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 (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.40sWARNlocal_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. ×5 + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789080675.82404423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827095 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827095 ms (missed cycles : 2).[0m ×2 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.232ms + 3.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617128 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617128 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638440 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638440 ms (missed cycles : 3).[0m ×2 + 6.41sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 9.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 9.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 12.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.66sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	46 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4).[0m ×2 + 1.39sWARNros2_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 + 1.90sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789080445.42748809 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789080446.00247478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.2869e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2).[0m ×2 + 6.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 6.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 7.30sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 8.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2).[0m ×2 + 8.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789080451.52259493 seconds ×3 + 9.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789080452.10009646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.329ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3).[0m ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3).[0m ×2 + 11.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.4s	28 warnings · 118 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.428ms + 0.85sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.953ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.437ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789080754.69194126 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080755.30914187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.58sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.216ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080756.08927107 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080756.66277623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080757.14289618 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941549 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941549 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 307 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.57sINFOmove_groupClearing octomap...[0m ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 2.32sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4).[0m ×2 + 1.39sWARNros2_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 + 1.90sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789080445.42748809 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789080446.00247478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.2869e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807836 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549133 ms (missed cycles : 4).[0m ×2 + 1.39sWARNros2_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 + 1.90sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405094 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789080445.42748809 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927456 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789080446.00247478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165378 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.2869e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226801 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	24 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680700 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 1.06sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628448 ms (missed cycles : 4).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376422 ms (missed cycles : 2).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789080451.52259493 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789080452.10009646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.329ms + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745437 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439618 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479190 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal + 3.50sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal + 3.50sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal + 3.50sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 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	36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal + 3.50sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203612 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185470 ms (missed cycles : 3).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990099 ms (missed cycles : 2).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789080508.61022806 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.22sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.36sWARNros2_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 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789080509.20001459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.381ms + 3.15sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503647 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.50sINFOjoint_trajectory_controllerReceived new action goal + 3.50sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830545 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856883 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	40 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.82sWARNros2_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 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789080547.64285278 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789080548.22448230 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 ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	40 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.82sWARNros2_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 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789080547.64285278 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789080548.22448230 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 ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	40 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975268 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755901 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.82sWARNros2_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 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667000 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789080547.64285278 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052676 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789080548.22448230 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 ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124052 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352040 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374524 ms (missed cycles : 3).[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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− 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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	24 warnings · 69 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707791 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932200 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027700 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789080681.69420028 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789080682.27657318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090004 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809196 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.98sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	25 warnings · 118 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166474 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.428ms + 0.85sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037968 ms (missed cycles : 2).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.953ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888583 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.437ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789080754.69194126 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994997 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789080755.30914187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.58sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.216ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356813 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789080756.08927107 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789080756.66277623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298347 ms (missed cycles : 4).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789080757.14289618 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556411 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 2.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.33sINFOobjective_server_nodecaller: ×10 + 3.33sINFOobjective_server_nodetype: 0 ×10 + 3.33sINFOobjective_server_nodename: "" ×10 + 3.33sINFOobjective_server_nodeinstance_id: "" ×10 + 3.33sINFOobjective_server_node ×10 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.38sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 5.13sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 5.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_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 3.376300 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	25 warnings · 300 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844007 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 2.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.33sINFOobjective_server_nodecaller: ×10 + 3.33sINFOobjective_server_nodetype: 0 ×10 + 3.33sINFOobjective_server_nodename: "" ×10 + 3.33sINFOobjective_server_nodeinstance_id: "" ×10 + 3.33sINFOobjective_server_node ×10 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.38sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 5.13sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 5.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_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 3.376300 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_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 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651283 ms (missed cycles : 3).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 1.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.28sINFOobjective_server_nodecaller: ×10 + 2.28sINFOobjective_server_nodetype: 0 ×10 + 2.28sINFOobjective_server_nodename: "" ×10 + 2.28sINFOobjective_server_nodeinstance_id: "" ×10 + 2.28sINFOobjective_server_node ×10 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 4.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740265 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871762 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789080399.82422900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789080399.83444667 seconds ×3 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789080400.41279721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789080400.42291546 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522543 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789080400.99598694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789080401.14668274 seconds ×3 + 3.01sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325840 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789080401.74902964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789080401.78933787 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789080402.36905932 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 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376300 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789469 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666086 ms (missed cycles : 2).[0m ×2