MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.7s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.3s	12 errors · 312 warnings · 1406 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/2026-08-21-04-52-22-983654-b9f9c655ae92-9415 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.82sINFOstatic_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' + 13.83sINFOstatic_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' + 13.89sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.90sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.90sINFOcontroller_managerupdate rate is 600 Hz + 13.90sINFOcontroller_managerOverruns handling is : enabled + 13.90sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.90sWARNcontroller_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. + 14.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.11sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.14sINFOros2_control_node-9process started with pid [9473] ×2 + 14.14sINFOmove_group-21process started with pid [9580] ×2 + 14.14sINFOparameter_manager_node-22process started with pid [9581] ×2 + 14.14sINFOwaypoint_manager_node-23process started with pid [9582] ×2 + 14.14sINFOmove_joint_resampler_node-24process started with pid [9583] ×2 + 14.15sINFOmove_end_effector_resampler_node-25process started with pid [9584] ×2 + 14.15sINFOobjective_server_node_main-26process started with pid [9585] ×2 + 14.15sINFOcomponent_container_mt-27process started with pid [9586] ×2 + 14.15sINFOcomponent_container_mt-28process started with pid [9587] ×2 + 14.15sINFOexecute_objective_bridge-29process started with pid [9588] ×2 + 14.15sINFOui_teleop_bridge-30process started with pid [9591] ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296726 ms (missed cycles : 5). + 14.17sINFOweb_bridge-31process started with pid [9592] ×2 + 14.17sINFOtf2_web_republisher_node-32process started with pid [9593] ×2 + 14.17sINFOcontroller_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. + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.18sINFOvideo_server-33process started with pid [9594] ×2 + 14.18sINFOweb_bridge_auth_proxy-34process started with pid [9595] ×2 + 14.18sINFOweb_video_auth_proxy-35process started with pid [9598] ×2 + 14.19sINFOcomponent_container_isolated-1process started with pid [9465] ×2 + 14.19sINFOcomponent_container_isolated-2process started with pid [9466] ×2 + 14.19sINFOstatic_transform_publisher-3process started with pid [9467] ×2 + 14.19sINFOstatic_transform_publisher-4process started with pid [9468] ×2 + 14.19sINFOodom_qos_relay.py-5process started with pid [9469] ×2 + 14.19sINFOforward_stereo_publisher.py-6process started with pid [9470] ×2 + 14.19sINFOscan_to_scan_filter_chain-7process started with pid [9471] ×2 + 14.19sINFOscan_to_scan_filter_chain-8process started with pid [9472] ×2 + 14.19sINFOros2-10process started with pid [9551] ×2 + 14.19sINFOros2-11process started with pid [9552] ×2 + 14.19sINFOros2-12process started with pid [9553] ×2 + 14.19sINFOros2-13process started with pid [9554] ×2 + 14.19sINFOros2-14process started with pid [9555] ×2 + 14.19sINFOros2-15process started with pid [9557] ×2 + 14.19sINFOros2-16process started with pid [9575] ×2 + 14.19sINFOros2-17process started with pid [9576] ×2 + 14.19sINFOros2-18process started with pid [9577] ×2 + 14.19sINFOros2-19process started with pid [9578] ×2 + 14.19sINFOros2-20process started with pid [9579] ×2 + 14.22sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.29sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.29sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.29sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.29sINFOcontroller_serverCreating controller server + 14.29sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.29sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.29sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.31sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.31sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.31sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.31sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.31sWARNros2_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 + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296726 ms (missed cycles : 5).[0m ×2 + 14.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.32sINFOlocal_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. + 14.34sINFOlocal_costmap.local_costmapCreating Costmap + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.39sINFOsmoother_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. + 14.39sINFOrobot_state_publisherRobot initialized + 14.40sINFOcontroller_managerReceived robot description from topic. + 14.40sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.40sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.41sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.41sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.42sINFOsmoother_serverCreating smoother server + 14.44sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.44sINFOmap_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. + 14.44sINFOmap_serverCreating + 14.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.46sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.49sINFOplanner_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. + 14.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.53sINFOplanner_serverCreating + 14.55sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.56sINFOglobal_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. + 14.58sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.58sINFOglobal_costmap.global_costmapCreating Costmap + 14.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.62sINFOlifecycle_manager_localizationCreating + 14.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.65sINFObehavior_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. + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.66sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.67sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.67sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.67sINFOmap_serverConfiguring + 14.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.69sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.76sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.47279 seconds + 14.76sINFOmove_groupLoaded robot model in 0.47279 seconds[0m ×2 + 14.76sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.77sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.77sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.77sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.77sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.78sINFObt_navigatorCreating + 14.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.83sWARNlaser_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. + 14.83sWARNlaser_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. + 14.83sWARNscan_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 + 14.83sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.83sINFOamclConfiguring + 14.84sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.84sINFOmap_serverActivating + 14.84sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.85sINFOwaypoint_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. + 14.86sINFOwaypoint_followerCreating + 14.89sINFOvideo_server2026/08/21 04:52:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.89sINFOvideo_server2026/08/21 04:52:41 INF configuration loaded from /tmp/moveit-webrtc-rgat_dwj/mediamtx.yml ×2 + 14.89sINFOvideo_server2026/08/21 04:52:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.89sINFOvideo_server2026/08/21 04:52:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.94sINFOvelocity_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. + 14.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.96sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.96sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.96sINFOamclActivating + 14.96sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.97sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.99sINFOamclSubscribed to map_topic: /map + 15.00sINFOlifecycle_manager_navigationCreating + 15.00sINFOamclSubscribed to scan_topic: /scan_merged + 15.00sINFOamclCreated reinitialize_global_localization service + 15.00sINFOamclCreated request_nomotion_update service + 15.01sINFOamclA new map was received + 15.01sINFOamclInitializing particle filter instance + 15.02sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.04sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.04sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.04sINFOcontroller_serverConfiguring controller interface + 15.04sINFOcontroller_servergetting progress checker plugins.. + 15.04sINFOcontroller_servergetting goal checker plugins.. + 15.04sINFOcontroller_serverController frequency set to 20.0000Hz + 15.04sINFOlocal_costmap.local_costmapConfiguring + 15.05sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.07sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.11sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.11sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.12sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.15sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.15sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.15sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.16sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.17sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.20sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.21sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.23sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.23sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.24sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.26sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.26sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.26sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.27sINFOcontroller_serverOptimizer reset ×2 + 15.29sINFOcontroller_serverController Server has FollowPath controllers available. + 15.31sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.31sINFOsmoother_serverConfiguring smoother server + 15.33sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670525 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670525 ms (missed cycles : 3).[0m ×2 + 15.34sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.35sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.35sINFOplanner_serverConfiguring + 15.35sINFOglobal_costmap.global_costmapConfiguring + 15.36sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.37sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.37sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.37sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.37sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.40sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.40sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.40sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.45sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.45sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.45sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.47sINFOplanner_serverPlanner Server has GridBased planners available. + 15.49sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.49sINFObehavior_serverConfiguring + 15.51sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.52sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.52sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.52sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.53sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.54sINFObehavior_serverConfiguring spin + 15.55sINFObehavior_serverConfiguring backup + 15.56sINFObehavior_serverConfiguring drive_on_heading + 15.56sINFObehavior_serverConfiguring assisted_teleop + 15.57sINFObehavior_serverConfiguring wait + 15.58sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.58sINFObt_navigatorConfiguring + 15.60sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.61sWARNbt_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 + 15.69sINFOamclParticle filter initialization completed + 15.69sINFOamclInitializing particles from estimated pose and covariance + 15.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.71sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.71sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.71sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.71sWARNmove_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. + 15.72sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.72sWARNmove_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 + 15.73sWARNmove_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 + 15.73sWARNmove_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 + 15.73sWARNmove_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 + 15.80sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.88sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.98sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.98sINFOwaypoint_followerConfiguring + 16.01sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.01sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.01sINFOvelocity_smootherConfiguring velocity smoother + 16.02sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.02sINFOcontroller_serverActivating + 16.02sINFOlocal_costmap.local_costmapActivating + 16.02sINFOlocal_costmap.local_costmapChecking transform + 16.02sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×8 + 16.11sINFOwaypoint_manager_nodeLoaded robot model in 0.33217 seconds[0m ×2 + 16.11sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.12sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.32sINFOmove_group[2026-08-21 04:52:42.763] [moveit_pro_license] [info] ×2 + 16.32sINFOmove_group************************************************* ×4 + 16.32sINFOmove_group* MoveIt Pro License ×2 + 16.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044656 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044656 ms (missed cycles : 2).[0m ×2 + 16.51sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.55sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.56sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.57sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.62sINFOros2_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 + 16.62sINFOros2_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 + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.92sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.92sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.93sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.93sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.93sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.93sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.93sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.93sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.94sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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. + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 16.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.95sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.95sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.95sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.95sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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. + 16.96sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.96sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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 + 16.96sWARNwaypoint_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. + 16.96sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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 + 16.97sWARNwaypoint_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. + 16.97sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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 + 16.99sWARNwaypoint_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 + 16.99sWARNwaypoint_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 + 16.99sWARNwaypoint_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 + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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 + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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 + 17.39sINFOwaypoint_manager_node[2026-08-21 04:52:43.826] [moveit_pro_license] [info] ×2 + 17.39sINFOwaypoint_manager_node************************************************* ×4 + 17.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.58sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.58sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.58sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.59sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.59sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.59sWARNros2_control_node23 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 + 17.59sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.59sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.59sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.59sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.59sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.59sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.59sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.59sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.59sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.59sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.59sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.59sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.59sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.59sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.59sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.59sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.59sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.59sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.59sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.59sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.59sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.59sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.59sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.59sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.59sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.59sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.59sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.59sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.59sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.59sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.59sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.59sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.61sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.61sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.62sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.72sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.72sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.74sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.78sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.78sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.79sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 17.79sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.80sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964527 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964527 ms (missed cycles : 2).[0m ×2 + 17.83sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 17.83sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.83sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 17.83sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.83sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.83sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.83sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.83sINFOstreaming_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) + 17.83sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.84sINFOplatform_velocity_controllerconfigure successful + 17.84sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.84sINFOros2_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 + 17.84sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.84sWARNros2_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 + 17.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.84sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.84sINFOcomponent_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 + 17.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.84sINFOros2_control_nodeconfigure successful[0m ×6 + 17.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.84sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.85sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 17.85sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.94sWARNcomponent_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 + 18.00sINFOobjective_server_node[2026-08-21 04:52:44.442] [moveit_pro_license] [info] ×2 + 18.00sINFOobjective_server_node************************************************* ×4 + 18.00sINFOobjective_server_node* MoveIt Pro License ×2 + 18.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.03sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.03sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.05sINFOstreaming_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) + 18.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.06sINFOcomponent_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 + 18.12sINFOobjective_server_nodeLoaded robot model in 0.0457941 seconds[0m ×2 + 18.12sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.12sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 18.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 18.24sINFOros2-13process has finished cleanly [pid 9554] ×2 + 18.27sINFOcomponent_container_mtLoaded robot model in 0.33668 seconds[0m ×2 + 18.27sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.27sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 18.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.30sINFOforce_torque_sensor_broadcasterconfigure successful + 18.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 18.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.66sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.66sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.66sWARNobjective_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. + 18.66sWARNobjective_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. + 18.66sWARNobjective_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 + 18.66sWARNobjective_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. + 18.66sWARNobjective_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 + 18.66sWARNobjective_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. + 18.66sWARNobjective_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. + 18.66sWARNobjective_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. + 18.66sWARNobjective_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. + 18.66sWARNobjective_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 + 18.66sWARNobjective_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. + 18.66sWARNobjective_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 + 18.66sWARNobjective_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 + 18.67sWARNobjective_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. + 18.67sWARNobjective_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. + 18.67sWARNobjective_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 + 18.67sWARNobjective_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 + 18.67sWARNobjective_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 + 18.67sWARNobjective_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 + 18.67sWARNobjective_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 + 18.69sINFOros2-10process has finished cleanly [pid 9551] ×2 + 18.74sINFOobjective_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 + 18.74sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 18.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 18.76sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.76sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.77sWARNplanning_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. + 18.77sWARNcomponent_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 + 18.77sWARNplanning_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. + 18.77sWARNcomponent_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 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_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 + 18.77sWARNcomponent_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 + 18.77sWARNplanning_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. + 18.77sWARNcomponent_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 + 18.77sWARNplanning_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. + 18.77sWARNcomponent_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 + 18.77sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNcomponent_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 + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNplanning_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. + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNcomponent_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 + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.79sWARNplanning_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. + 18.79sWARNcomponent_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 + 18.80sWARNcomponent_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 + 18.80sWARNplanning_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. + 18.80sWARNplanning_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. + 18.80sWARNcomponent_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 + 18.80sWARNcomponent_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 + 18.82sINFOmove_groupMoveGroup debug mode is ON + 18.82sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.83sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787287964.145 for reason 'discarding message because the queue is full' + 18.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930987 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930987 ms (missed cycles : 2).[0m ×2 + 18.85sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.88sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.88sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.88sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.89sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.89sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.97sINFOcomponent_container_mt[2026-08-21 04:52:45.413] [moveit_pro_license] [info] ×2 + 18.97sINFOcomponent_container_mt************************************************* ×4 + 18.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.02sINFOmove_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 ****************************************************** + 19.02sINFOmove_group ×8 + 19.02sINFOmove_group****************************************************** ×4 + 19.02sINFOmove_group* MoveGroup using: ×2 + 19.02sINFOmove_group* - apply_planning_scene_service ×2 + 19.02sINFOmove_group* - clear_octomap_service ×2 + 19.02sINFOmove_group* - get_group_urdf ×2 + 19.02sINFOmove_group* - load_geometry_from_file ×2 + 19.02sINFOmove_group* - get_planning_scene_service ×2 + 19.02sINFOmove_group* - kinematics_service ×2 + 19.02sINFOmove_group* - save_geometry_to_file ×2 + 19.02sINFOmove_group* - GetPlanningGroups ×2 + 19.02sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.02sINFOmove_group[0m ×2 + 19.02sINFOmove_group[92mYou can start planning now![0m ×2 + 19.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.28sINFOros2_control_node[2026-08-21 04:52:45.719] [info] Controller state will be published at 20 Hz. ×2 + 19.28sINFOros2_control_node[2026-08-21 04:52:45.720] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.32sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.32sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.40sWARNros2_control_nodeCamera render tick took 0.77 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.65sINFOros2-19process has finished cleanly [pid 9578] ×2 + 19.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 19.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 19.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.72sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.73sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971695 ms (missed cycles : 3). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971695 ms (missed cycles : 3).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.821ms + 20.02sINFOlocal_costmap.local_costmapstart + 20.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 20.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 20.08sWARNobjective_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 + 20.10sINFOros2-12process has finished cleanly [pid 9553] ×2 + 20.12sWARNcontroller_serverParameter controller_server.verbose not found + 20.13sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.13sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.17sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.17sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.23sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.23sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.23sINFOsmoother_serverActivating + 20.23sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.34sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.34sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.34sINFOplanner_serverActivating + 20.34sINFOglobal_costmap.global_costmapActivating + 20.34sINFOglobal_costmap.global_costmapChecking transform + 20.34sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787287966.774887 but the earliest data is at time 1787287967.245250, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.54sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.54sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.54sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 20.54sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.54sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.54sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 20.58sINFOros2-16process has finished cleanly [pid 9575] ×2 + 20.61sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.61sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.62sINFOplatform_velocity_controller_nav2configure successful + 20.84sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787287967.234873 but the earliest data is at time 1787287967.245250, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905756 ms (missed cycles : 3). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905756 ms (missed cycles : 3).[0m ×2 + 21.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.03sINFOros2-15process has finished cleanly [pid 9557] ×2 + 21.04sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.04sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.04sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 21.04sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.04sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.04sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 21.13sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.13sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.34sINFOglobal_costmap.global_costmapstart + 21.52sINFOros2_control_node[2026-08-21 04:52:47.959] [info] Controller state will be published at 20 Hz. ×2 + 21.52sINFOros2_control_node[2026-08-21 04:52:47.960] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 21.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 21.88sINFOros2-20process has finished cleanly [pid 9579] ×2 + 21.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.93sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.93sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790484 ms (missed cycles : 3). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790484 ms (missed cycles : 3).[0m ×2 + 21.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.28sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.28sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 22.28sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.28sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 22.31sINFOros2-14process has finished cleanly [pid 9555] ×2 + 22.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 22.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 22.39sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.39sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.43sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 22.43sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 22.43sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 22.43sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 22.50sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.50sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.50sINFObehavior_serverActivating + 22.50sINFObehavior_serverActivating spin + 22.50sINFObehavior_serverActivating backup + 22.50sINFObehavior_serverActivating drive_on_heading + 22.50sINFObehavior_serverActivating assisted_teleop + 22.50sINFObehavior_serverActivating wait + 22.50sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.61sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.61sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.61sINFObt_navigatorActivating + 22.68sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 22.78sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 22.78sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 22.78sINFOwaypoint_followerActivating + 22.78sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 22.84sINFOros2_control_node[2026-08-21 04:52:49.276] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.84sINFOros2_control_node[2026-08-21 04:52:49.278] [info] Controller state will be published at 10 Hz. ×2 + 22.84sINFOros2_control_node[2026-08-21 04:52:49.279] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.88sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 22.89sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 22.89sINFOvelocity_smootherActivating + 22.89sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557326 ms (missed cycles : 3). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557326 ms (missed cycles : 3).[0m ×2 + 22.99sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.99sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.99sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 23.18sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 23.18sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 23.18sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 23.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 23.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 23.19sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 23.21sINFOros2-18process has finished cleanly [pid 9577] ×2 + 23.25sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 23.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 23.25sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 23.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 23.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 23.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 23.26sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 23.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 23.61sINFOros2-11process has finished cleanly [pid 9552] ×2 + 23.62sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.62sINFOcontroller_managerLoading controller 'velocity_force_controller' + 23.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 + 23.62sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.62sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 23.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yk7oyhtj --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_hn5zpmdn --params-file /tmp/launch_params_oshopcv3 [0m ×2 + 23.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 23.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 23.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 23.69sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353113 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353113 ms (missed cycles : 3).[0m ×2 + 24.05sINFOros2_control_node[2026-08-21 04:52:50.490] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.05sINFOros2_control_node[2026-08-21 04:52:50.492] [info] Controller state will be published at 10 Hz. ×2 + 24.06sINFOros2_control_node[2026-08-21 04:52:50.493] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.39sINFOros2-17process has finished cleanly [pid 9576] ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 27.63sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 29.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.45sINFOmove_groupClearing octomap...[0m ×2 + 29.46sINFOmove_groupOctomap cleared.[0m ×2 + 29.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 30.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 30.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 31.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.42sINFOobjective_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 + 31.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 31.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.1s	3 errors · 227 warnings · 241 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.491ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783019 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783019 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.765ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994741 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994741 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.082ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.339ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285912 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285912 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 4435 particles 723 points - 6.085ms + 3.50sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 5.651ms + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079879 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079879 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.454ms + 4.03sINFOobjective_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 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.07sERRORobjective_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: 1787288187.74549723 seconds ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.431ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787288188.33203983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941029 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941029 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793459 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793459 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835727 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835727 ms (missed cycles : 3).[0m ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.15sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.15sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.15sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.15sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835082 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835082 ms (missed cycles : 3).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.680ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796065 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796065 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.596ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.985ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719078 ms (missed cycles : 2). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719078 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.266ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757307 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757307 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.934ms + 12.10sINFOamclParticle filter update iteration stats: 3201 particles 723 points - 4.635ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541455 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541455 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 4.442ms + 13.09sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.932ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653736 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653736 ms (missed cycles : 2).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626952 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626952 ms (missed cycles : 3).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084937 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084937 ms (missed cycles : 2).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967431 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967431 ms (missed cycles : 2).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691768 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691768 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923514 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923514 ms (missed cycles : 3).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803737 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803737 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958503 ms (missed cycles : 5). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958503 ms (missed cycles : 5).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351809 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351809 ms (missed cycles : 4).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488448 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488448 ms (missed cycles : 3).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715016 ms (missed cycles : 4). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715016 ms (missed cycles : 4).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784494 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784494 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983785 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983785 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468817 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468817 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584815 ms (missed cycles : 4). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584815 ms (missed cycles : 4).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174490 ms (missed cycles : 2). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174490 ms (missed cycles : 2).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791236 ms (missed cycles : 2). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791236 ms (missed cycles : 2).[0m ×2 + 30.41sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677226 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677226 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278828 ms (missed cycles : 4). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278828 ms (missed cycles : 4).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143232 ms (missed cycles : 4). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143232 ms (missed cycles : 4).[0m ×2 + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms ×2 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923864 ms (missed cycles : 3). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923864 ms (missed cycles : 3).[0m ×2 + 35.52sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.53sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608076 ms (missed cycles : 4). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608076 ms (missed cycles : 4).[0m ×2 + 35.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.70sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310542 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310542 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270175 ms (missed cycles : 4). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270175 ms (missed cycles : 4).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973103 ms (missed cycles : 2). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973103 ms (missed cycles : 2).[0m ×2 + 39.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.032ms + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423926 ms (missed cycles : 3). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423926 ms (missed cycles : 3).[0m ×2 + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279815 ms (missed cycles : 4). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279815 ms (missed cycles : 4).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572954 ms (missed cycles : 3). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572954 ms (missed cycles : 3).[0m ×2 + 42.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710100 ms (missed cycles : 3). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710100 ms (missed cycles : 3).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720062 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720062 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998887 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998887 ms (missed cycles : 2).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779101 ms (missed cycles : 4). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779101 ms (missed cycles : 4).[0m ×2 + 46.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510730 ms (missed cycles : 3). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510730 ms (missed cycles : 3).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593764 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593764 ms (missed cycles : 3).[0m ×2 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503187 ms (missed cycles : 3). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503187 ms (missed cycles : 3).[0m ×2 + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255465 ms (missed cycles : 2). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255465 ms (missed cycles : 2).[0m ×2 + 51.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895463 ms (missed cycles : 3). + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895463 ms (missed cycles : 3).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 53.03sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 53.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357288 ms (missed cycles : 5). + 53.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357288 ms (missed cycles : 5).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276016 ms (missed cycles : 4). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276016 ms (missed cycles : 4).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069778 ms (missed cycles : 5). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069778 ms (missed cycles : 5).[0m ×2 + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588639 ms (missed cycles : 3). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588639 ms (missed cycles : 3).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935186 ms (missed cycles : 2). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935186 ms (missed cycles : 2).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041701 ms (missed cycles : 2). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041701 ms (missed cycles : 2).[0m ×2 + 58.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms ×2 + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499802 ms (missed cycles : 4). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499802 ms (missed cycles : 4).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 60.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496269 ms (missed cycles : 3). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496269 ms (missed cycles : 3).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018761 ms (missed cycles : 4). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018761 ms (missed cycles : 4).[0m ×2 + 62.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098270 ms (missed cycles : 3). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098270 ms (missed cycles : 3).[0m ×2 + 63.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127722 ms (missed cycles : 3). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127722 ms (missed cycles : 3).[0m ×2 + 64.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 64.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758323 ms (missed cycles : 2). + 64.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758323 ms (missed cycles : 2).[0m ×2 + 65.66sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 65.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523481 ms (missed cycles : 3). + 65.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523481 ms (missed cycles : 3).[0m ×2 + 67.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185066 ms (missed cycles : 3). + 67.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185066 ms (missed cycles : 3).[0m ×2 + 68.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469706 ms (missed cycles : 3). + 68.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469706 ms (missed cycles : 3).[0m ×2 + 69.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111169 ms (missed cycles : 2). + 69.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111169 ms (missed cycles : 2).[0m ×2 + 70.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 70.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195236 ms (missed cycles : 4). + 70.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195236 ms (missed cycles : 4).[0m ×2 + 70.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 71.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836436 ms (missed cycles : 3). + 71.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836436 ms (missed cycles : 3).[0m ×2 + 71.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 72.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345155 ms (missed cycles : 4). + 72.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345155 ms (missed cycles : 4).[0m ×2 + 72.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 73.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.844ms + 73.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988934 ms (missed cycles : 4). + 73.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988934 ms (missed cycles : 4).[0m ×2 + 74.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620126 ms (missed cycles : 4). + 74.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620126 ms (missed cycles : 4).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 75.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 75.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478224 ms (missed cycles : 3). + 75.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478224 ms (missed cycles : 3).[0m ×2 + 76.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 76.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986714 ms (missed cycles : 5). + 76.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986714 ms (missed cycles : 5).[0m ×2 + 77.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787288260.84221935 seconds ×3 + 77.29sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.29sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.269ms + 77.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787288261.42025566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883534 ms (missed cycles : 2). + 77.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883534 ms (missed cycles : 2).[0m ×2 + 78.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770761 ms (missed cycles : 3). + 78.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770761 ms (missed cycles : 3).[0m ×2 + 79.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 79.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	182 warnings · 222 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.88sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.88sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.88sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787288024.76659393 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787288025.35482645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919069 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919069 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610794 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610794 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.600ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851754 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851754 ms (missed cycles : 3).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251687 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251687 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550934 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550934 ms (missed cycles : 3).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799343 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799343 ms (missed cycles : 2).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752123 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752123 ms (missed cycles : 4).[0m ×2 + 12.89sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002885 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002885 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832083 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832083 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927304 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927304 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102515 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102515 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923622 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923622 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529455 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529455 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483736 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483736 ms (missed cycles : 3).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573561 ms (missed cycles : 6). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573561 ms (missed cycles : 6).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646228 ms (missed cycles : 4). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646228 ms (missed cycles : 4).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058791 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058791 ms (missed cycles : 3).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519396 ms (missed cycles : 4). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519396 ms (missed cycles : 4).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405778 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405778 ms (missed cycles : 2).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784158 ms (missed cycles : 4). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784158 ms (missed cycles : 4).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484988 ms (missed cycles : 3). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484988 ms (missed cycles : 3).[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197038 ms (missed cycles : 4). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197038 ms (missed cycles : 4).[0m ×2 + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773251 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773251 ms (missed cycles : 2).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850145 ms (missed cycles : 3). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850145 ms (missed cycles : 3).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232046 ms (missed cycles : 4). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232046 ms (missed cycles : 4).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743399 ms (missed cycles : 4). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743399 ms (missed cycles : 4).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176056 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176056 ms (missed cycles : 4).[0m ×2 + 34.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806273 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806273 ms (missed cycles : 2).[0m ×2 + 35.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917034 ms (missed cycles : 4). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917034 ms (missed cycles : 4).[0m ×2 + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409761 ms (missed cycles : 3). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409761 ms (missed cycles : 3).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879419 ms (missed cycles : 3). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879419 ms (missed cycles : 3).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743352 ms (missed cycles : 4). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743352 ms (missed cycles : 4).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946969 ms (missed cycles : 3). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946969 ms (missed cycles : 3).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744339 ms (missed cycles : 4). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744339 ms (missed cycles : 4).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268446 ms (missed cycles : 4). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268446 ms (missed cycles : 4).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145732 ms (missed cycles : 4). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145732 ms (missed cycles : 4).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086892 ms (missed cycles : 2). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086892 ms (missed cycles : 2).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437701 ms (missed cycles : 3). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437701 ms (missed cycles : 3).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323257 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323257 ms (missed cycles : 3).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592997 ms (missed cycles : 4). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592997 ms (missed cycles : 4).[0m ×2 + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760288 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760288 ms (missed cycles : 2).[0m ×2 + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354924 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354924 ms (missed cycles : 3).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640438 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640438 ms (missed cycles : 2).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693667 ms (missed cycles : 3). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693667 ms (missed cycles : 3).[0m ×2 + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470389 ms (missed cycles : 3). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470389 ms (missed cycles : 3).[0m ×2 + 54.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856382 ms (missed cycles : 2). + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856382 ms (missed cycles : 2).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545845 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545845 ms (missed cycles : 3).[0m ×2 + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 56.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 57.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 57.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 59.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 60.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 61.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 61.77sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 61.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	182 warnings · 174 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.94sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.94sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.94sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.94sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693447 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693447 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085444 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085444 ms (missed cycles : 3).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.102ms + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.704ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996741 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996741 ms (missed cycles : 2).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.545ms + 10.57sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817076 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817076 ms (missed cycles : 3).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.074ms + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.319ms + 11.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.833ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828406 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828406 ms (missed cycles : 2).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.779ms + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.206ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967787 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967787 ms (missed cycles : 2).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.451ms + 13.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.284ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217984 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217984 ms (missed cycles : 4).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 6.737ms + 14.85sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 5.956ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171093 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171093 ms (missed cycles : 3).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 5.451ms + 15.85sINFOamclParticle filter update iteration stats: 3170 particles 723 points - 4.207ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017058 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017058 ms (missed cycles : 2).[0m ×2 + 16.35sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 4.373ms + 16.85sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 3.751ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776339 ms (missed cycles : 4). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776339 ms (missed cycles : 4).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 3.262ms + 17.85sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.851ms + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543528 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543528 ms (missed cycles : 3).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.847ms + 18.85sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.363ms + 19.34sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.702ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668721 ms (missed cycles : 3). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668721 ms (missed cycles : 3).[0m ×2 + 19.85sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.077ms + 20.35sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.876ms + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637213 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637213 ms (missed cycles : 3).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.773ms + 21.35sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.009ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305616 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305616 ms (missed cycles : 2).[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.961ms + 22.35sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.860ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405369 ms (missed cycles : 3). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405369 ms (missed cycles : 3).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.747ms + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946596 ms (missed cycles : 3). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946596 ms (missed cycles : 3).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.641ms + 24.35sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.850ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822178 ms (missed cycles : 3). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822178 ms (missed cycles : 3).[0m ×2 + 24.85sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.711ms + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 25.85sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.824ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103070 ms (missed cycles : 4). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103070 ms (missed cycles : 4).[0m ×2 + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797575 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797575 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151736 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151736 ms (missed cycles : 4).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462899 ms (missed cycles : 4). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462899 ms (missed cycles : 4).[0m ×2 + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281618 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281618 ms (missed cycles : 2).[0m ×2 + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281381 ms (missed cycles : 4). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281381 ms (missed cycles : 4).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244676 ms (missed cycles : 2). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244676 ms (missed cycles : 2).[0m ×2 + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 33.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803093 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803093 ms (missed cycles : 2).[0m ×2 + 34.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803114 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803114 ms (missed cycles : 3).[0m ×2 + 35.35sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547748 ms (missed cycles : 4). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547748 ms (missed cycles : 4).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724167 ms (missed cycles : 4). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724167 ms (missed cycles : 4).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164844 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164844 ms (missed cycles : 2).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299549 ms (missed cycles : 4). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299549 ms (missed cycles : 4).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486246 ms (missed cycles : 3). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486246 ms (missed cycles : 3).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393992 ms (missed cycles : 4). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393992 ms (missed cycles : 4).[0m ×2 + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138722 ms (missed cycles : 3). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138722 ms (missed cycles : 3).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995946 ms (missed cycles : 2). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995946 ms (missed cycles : 2).[0m ×2 + 43.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416091 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416091 ms (missed cycles : 3).[0m ×2 + 45.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524819 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524819 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534441 ms (missed cycles : 3). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534441 ms (missed cycles : 3).[0m ×2 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066807 ms (missed cycles : 4). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066807 ms (missed cycles : 4).[0m ×2 + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694538 ms (missed cycles : 3). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694538 ms (missed cycles : 3).[0m ×2 + 49.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276112 ms (missed cycles : 4). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276112 ms (missed cycles : 4).[0m ×2 + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750427 ms (missed cycles : 2). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750427 ms (missed cycles : 2).[0m ×2 + 51.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099654 ms (missed cycles : 4). + 51.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099654 ms (missed cycles : 4).[0m ×2 + 52.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 52.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454464 ms (missed cycles : 4). + 52.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454464 ms (missed cycles : 4).[0m ×2 + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661635 ms (missed cycles : 3). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661635 ms (missed cycles : 3).[0m ×2 + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705342 ms (missed cycles : 2). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705342 ms (missed cycles : 2).[0m ×2 + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678422 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678422 ms (missed cycles : 2).[0m ×2 + 56.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510629 ms (missed cycles : 5). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510629 ms (missed cycles : 5).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140997 ms (missed cycles : 3). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140997 ms (missed cycles : 3).[0m ×2 + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704845 ms (missed cycles : 2). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704845 ms (missed cycles : 2).[0m ×2 + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697581 ms (missed cycles : 2). + 60.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697581 ms (missed cycles : 2).[0m ×2 + 60.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787288324.45891643 seconds ×3 + 61.04sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 10.38) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.04sWARNlocal_costmap.local_costmapSensor origin at (-3.21, 10.39) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.06sINFOamclParticle filter update iteration stats: 4797 particles 723 points - 5.787ms + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696924 ms (missed cycles : 4). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696924 ms (missed cycles : 4).[0m ×2 + 61.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.857ms + 61.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787288325.04885244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.89sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 62.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701601 ms (missed cycles : 3). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701601 ms (missed cycles : 3).[0m ×2 + 63.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544312 ms (missed cycles : 2). + 63.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544312 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.0s	181 warnings · 191 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787288120.70225883 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.929ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787288121.29712629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462622 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462622 ms (missed cycles : 2).[0m ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747791 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747791 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827458 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827458 ms (missed cycles : 3).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.297ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640681 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640681 ms (missed cycles : 3).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.517ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.389ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592532 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592532 ms (missed cycles : 4).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.561ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151732 ms (missed cycles : 3). + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.375ms + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151732 ms (missed cycles : 3).[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.623ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.338ms + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614770 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614770 ms (missed cycles : 4).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.570ms + 14.20sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 6.862ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769831 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769831 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 4.759ms + 15.20sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 2.669ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104619 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104619 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.918ms + 16.20sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.615ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081579 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081579 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052243 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052243 ms (missed cycles : 4).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563642 ms (missed cycles : 3). + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563642 ms (missed cycles : 3).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949772 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949772 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970169 ms (missed cycles : 4). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970169 ms (missed cycles : 4).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220511 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220511 ms (missed cycles : 3).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854180 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854180 ms (missed cycles : 2).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348506 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348506 ms (missed cycles : 3).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717815 ms (missed cycles : 4). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717815 ms (missed cycles : 4).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072640 ms (missed cycles : 4). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072640 ms (missed cycles : 4).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462822 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462822 ms (missed cycles : 3).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743889 ms (missed cycles : 3). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743889 ms (missed cycles : 3).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845673 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845673 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721117 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721117 ms (missed cycles : 2).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717488 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717488 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964793 ms (missed cycles : 3). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964793 ms (missed cycles : 3).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974707 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974707 ms (missed cycles : 2).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962479 ms (missed cycles : 3). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962479 ms (missed cycles : 3).[0m ×2 + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391170 ms (missed cycles : 5). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391170 ms (missed cycles : 5).[0m ×2 + 36.92sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965734 ms (missed cycles : 3). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965734 ms (missed cycles : 3).[0m ×2 + 37.41sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.62sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682254 ms (missed cycles : 4). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682254 ms (missed cycles : 4).[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191564 ms (missed cycles : 3). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191564 ms (missed cycles : 3).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745721 ms (missed cycles : 5). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745721 ms (missed cycles : 5).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677690 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677690 ms (missed cycles : 2).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595451 ms (missed cycles : 3). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595451 ms (missed cycles : 3).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752697 ms (missed cycles : 5). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752697 ms (missed cycles : 5).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265200 ms (missed cycles : 4). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265200 ms (missed cycles : 4).[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542750 ms (missed cycles : 5). + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542750 ms (missed cycles : 5).[0m ×2 + 46.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861502 ms (missed cycles : 2). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861502 ms (missed cycles : 2).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953133 ms (missed cycles : 3). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953133 ms (missed cycles : 3).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753897 ms (missed cycles : 2). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753897 ms (missed cycles : 2).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551133 ms (missed cycles : 4). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551133 ms (missed cycles : 4).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734620 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734620 ms (missed cycles : 2).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 51.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870379 ms (missed cycles : 4). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870379 ms (missed cycles : 4).[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316229 ms (missed cycles : 3). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316229 ms (missed cycles : 3).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 54.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434955 ms (missed cycles : 3). + 54.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434955 ms (missed cycles : 3).[0m ×2 + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853775 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853775 ms (missed cycles : 2).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855317 ms (missed cycles : 3). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855317 ms (missed cycles : 3).[0m ×2 + 57.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695238 ms (missed cycles : 2). + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695238 ms (missed cycles : 2).[0m ×2 + 57.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 58.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491304 ms (missed cycles : 3). + 58.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491304 ms (missed cycles : 3).[0m ×2 + 58.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778661 ms (missed cycles : 2). + 59.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778661 ms (missed cycles : 2).[0m ×2 + 60.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787288176.70727420 seconds ×3 + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 5.31) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 5.58) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.298ms + 60.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.527ms + 60.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730614 ms (missed cycles : 2). + 60.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730614 ms (missed cycles : 2).[0m ×2 + 60.62sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787288177.28420877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.04sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409045 ms (missed cycles : 3). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409045 ms (missed cycles : 3).[0m ×2 + 62.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674257 ms (missed cycles : 3). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674257 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.3s	144 warnings · 266 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741626 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741626 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864658 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864658 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890094 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890094 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599565 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599565 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450435 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450435 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914893 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914893 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393702 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393702 ms (missed cycles : 2).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636765 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636765 ms (missed cycles : 3).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763571 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763571 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597858 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597858 ms (missed cycles : 3).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772346 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772346 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735635 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735635 ms (missed cycles : 2).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186054 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186054 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.463ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895753 ms (missed cycles : 3). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895753 ms (missed cycles : 3).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374004 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374004 ms (missed cycles : 2).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793067 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793067 ms (missed cycles : 3).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754071 ms (missed cycles : 3). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754071 ms (missed cycles : 3).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258942 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258942 ms (missed cycles : 2).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778536 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778536 ms (missed cycles : 2).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252778 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252778 ms (missed cycles : 2).[0m ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090579 ms (missed cycles : 3). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090579 ms (missed cycles : 3).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417114 ms (missed cycles : 3). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417114 ms (missed cycles : 3).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137094 ms (missed cycles : 3). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137094 ms (missed cycles : 3).[0m ×2 + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900736 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900736 ms (missed cycles : 3).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770460 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770460 ms (missed cycles : 2).[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121446 ms (missed cycles : 2). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121446 ms (missed cycles : 2).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928020 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928020 ms (missed cycles : 2).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214348 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214348 ms (missed cycles : 2).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391080 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391080 ms (missed cycles : 2).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596603 ms (missed cycles : 3). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596603 ms (missed cycles : 3).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374978 ms (missed cycles : 3). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374978 ms (missed cycles : 3).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722056 ms (missed cycles : 2). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722056 ms (missed cycles : 2).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889087 ms (missed cycles : 2). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889087 ms (missed cycles : 2).[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720287 ms (missed cycles : 2). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720287 ms (missed cycles : 2).[0m ×2 + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2).[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3).[0m ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2).[0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3).[0m ×2 + 47.51sINFOjoint_trajectory_controllerGoal reached, success! + 47.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 47.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 47.90sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 48.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 49.37sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 49.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	110 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941761 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941761 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411134 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411134 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742095 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742095 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787288088.20146418 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681936 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681936 ms (missed cycles : 2).[0m ×2 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056952 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056952 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787288089.79211879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357079 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357079 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059798 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059798 ms (missed cycles : 4).[0m ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.94sINFOjoint_trajectory_controllerReceived new action goal + 6.94sINFOjoint_trajectory_controllerAccepted new action goal + 6.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213345 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213345 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344501 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344501 ms (missed cycles : 2).[0m ×2 + 8.72sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 9.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.297ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612432 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612432 ms (missed cycles : 3).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.362ms + 10.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370631 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370631 ms (missed cycles : 2).[0m ×2 + 10.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.940ms + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.057ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897610 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897610 ms (missed cycles : 2).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.886ms + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.713ms + 12.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.130ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586162 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586162 ms (missed cycles : 3).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.568ms + 13.82sINFOamclParticle filter update iteration stats: 4280 particles 723 points - 5.508ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360747 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360747 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 4.683ms + 14.82sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 4.302ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742151 ms (missed cycles : 4). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742151 ms (missed cycles : 4).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 3.209ms + 15.82sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 2.039ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285722 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285722 ms (missed cycles : 2).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.593ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787118 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787118 ms (missed cycles : 2).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919106 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919106 ms (missed cycles : 2).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315489 ms (missed cycles : 4). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315489 ms (missed cycles : 4).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508501 ms (missed cycles : 6). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508501 ms (missed cycles : 6).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047952 ms (missed cycles : 4). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047952 ms (missed cycles : 4).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867073 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867073 ms (missed cycles : 2).[0m ×2 + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337125 ms (missed cycles : 3). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337125 ms (missed cycles : 3).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801965 ms (missed cycles : 3). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801965 ms (missed cycles : 3).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655321 ms (missed cycles : 2). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655321 ms (missed cycles : 2).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790867 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790867 ms (missed cycles : 3).[0m ×2 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905618 ms (missed cycles : 3). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905618 ms (missed cycles : 3).[0m ×2 + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966558 ms (missed cycles : 2). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966558 ms (missed cycles : 2).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654112 ms (missed cycles : 3). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654112 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622730 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622730 ms (missed cycles : 3).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 33.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3).[0m ×2 + 35.35sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787288120.70225883 seconds ×3 + 35.41sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.41sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.929ms + 35.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787288121.29712629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3).[0m ×2 + 36.48sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.0s	65 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510629 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510629 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140997 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140997 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704845 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704845 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697581 ms (missed cycles : 2). + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697581 ms (missed cycles : 2).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787288324.45891643 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 10.38) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.21, 10.39) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 4797 particles 723 points - 5.787ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696924 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696924 ms (missed cycles : 4).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.857ms + 4.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787288325.04885244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701601 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701601 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544312 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544312 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833402 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833402 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361033 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361033 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743697 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743697 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818577 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818577 ms (missed cycles : 2).[0m ×2 + 10.86sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.93sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 11.03sINFOobjective_server_nodeFound path in 0 iterations (8.26e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090876 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090876 ms (missed cycles : 4).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 146 iterations (0.121916 s). ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 12.41sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097098 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097098 ms (missed cycles : 2).[0m ×2 + 12.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.06sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.65sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258245 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258245 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2).[0m ×2 + 16.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.829ms + 16.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.002ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 18.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3).[0m ×2 + 19.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787288339.50295496 seconds ×3 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2).[0m ×2 + 19.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 19.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.082ms + 19.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288340.12609053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.69sINFOmove_groupClearing octomap...[0m ×2 + 19.69sINFOmove_groupOctomap cleared.[0m ×2 + 20.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288340.63620853 seconds ×3 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3).[0m ×2 + 20.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288341.22358966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2).[0m ×2 + 21.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288341.82370186 seconds ×3 + 21.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	94 errors · 33 warnings · 432 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.829ms + 0.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.002ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787288339.50295496 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_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 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.082ms + 3.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288340.12609053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288340.63620853 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288341.22358966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288341.82370186 seconds ×3 + 5.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787087 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787087 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516283 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516283 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615804 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615804 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922546 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922546 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205954 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205954 ms (missed cycles : 2).[0m ×2 + 10.96sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.00sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORweb_video_auth_proxy-35process has died [pid 9598, 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 + 11.01sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.04sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge_auth_proxy-34process has died [pid 9595, 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 + 11.05sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.12sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.15sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.17sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.19sINFOvideo_server-33process has finished cleanly [pid 9594] ×2 + 11.20sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.23sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.25sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.28sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.31sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.33sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.34sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.37sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.38sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9593] ×2 + 11.39sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.43sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.47sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.47sINFOcontroller_managerShutdown request received.... + 11.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.47sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.47sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.47sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.47sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.48sINFOcontroller_managerShutting down the controller manager. + 11.49sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.50sERRORmove_group-21process has died [pid 9580, 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_4i95qiy_ --params-file /tmp/launch_params_ymmws88o --params-file /tmp/launch_params_g_q77dxw --params-file /tmp/launch_params_9572pou5 --params-file /tmp/launch_params_q9siv9ef --params-file /tmp/launch_params_nh9ytd_f']. ×2 + 11.50sINFOui_teleop_bridge-30process has finished cleanly [pid 9591] ×2 + 11.52sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.52sINFOcomponent_container_mt-28process has finished cleanly [pid 9587] ×2 + 11.54sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.54sINFOexecute_objective_bridge-29process has finished cleanly [pid 9588] ×2 + 11.56sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787288347.645 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.56sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.58sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.60sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.62sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.62sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.62sINFOmap_serverDeactivating + 11.62sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.63sINFOmap_serverCleaning up + 11.63sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.63sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.64sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.64sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.64sINFOcontroller_serverDeactivating + 11.64sINFOlocal_costmap.local_costmapDeactivating + 11.64sINFOvideo_server2026/08/21 04:59:07 INF shutting down gracefully ×2 + 11.64sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOvideo_server2026/08/21 04:59:07 INF [WebRTC] closing ×2 + 11.64sINFOvideo_server2026/08/21 04:59:07 INF [RTSP] closing ×2 + 11.64sINFOvideo_server2026/08/21 04:59:07 INF waiting for running hooks ×2 + 11.64sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.64sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sERRORamclThe bond connection to the lifecycle manager has been broken + 11.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.65sERRORmove_groupStack trace (most recent call last) in thread 10194: ×2 + 11.65sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8286000a63, in __clone ×2 + 11.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8285f73aa3, in ×2 + 11.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8286205db3, in ×2 + 11.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8286976637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8286597620, in rclcpp::Rate::sleep() ×2 + 11.65sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82864d9d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.65sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f828649b087, in ×2 + 11.65sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f82861d4390, in __cxa_throw ×2 + 11.65sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f82861bea54, in std::terminate() ×2 + 11.65sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f82861d40d9, in ×2 + 11.65sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f82861beff4, in ×2 + 11.65sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8285eff8fe, in abort ×2 + 11.65sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8285f1c27d, in raise ×2 + 11.65sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8285f75b2c, in pthread_kill ×2 + 11.65sERRORmove_groupAborted (Signal sent by tkill() 9580 0) ×2 + 11.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.66sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.66sINFOodom_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 + 11.66sINFOodom_qos_relay.pymain() ×2 + 11.66sINFOodom_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 + 11.66sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.66sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.66sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.66sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.66sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.66sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.66sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.66sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.67sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.68sINFOcontroller_serverCleaning up + 11.68sINFOlocal_costmap.local_costmapCleaning up + 11.69sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.69sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.69sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.73sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.73sINFOsmoother_serverDeactivating + 11.73sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.74sINFOsmoother_serverCleaning up + 11.75sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.75sINFOplanner_serverDeactivating + 11.75sINFOglobal_costmap.global_costmapDeactivating + 11.84sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.84sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.84sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.84sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.84sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.84sINFOvelocity_smootherDeactivating + 11.84sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.93sERRORcomponent_container_isolated-2process has died [pid 9466, 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_3mhheuaq --params-file /tmp/launch_params_crr7myyb -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.95sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.95sINFOwaypoint_followerDeactivating + 11.95sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.07sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.07sINFObt_navigatorDeactivating + 12.07sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.18sINFObehavior_serverDeactivating + 12.18sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.29sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.29sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.29sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.29sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.29sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.30sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.30sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.30sINFOvelocity_smootherCleaning up + 12.30sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.30sINFOwaypoint_followerCleaning up + 12.33sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.33sINFObt_navigatorCleaning up + 12.36sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9584] ×2 + 12.39sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.39sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.39sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9583] ×2 + 12.40sINFOplanner_serverCleaning up + 12.42sINFOglobal_costmap.global_costmapCleaning up + 12.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.46sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.46sINFObehavior_serverCleaning up + 12.46sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.46sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.46sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.46sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.46sINFOparameter_manager_node-22process has finished cleanly [pid 9581] ×2 + 12.47sINFOwaypoint_manager_node-23process has finished cleanly [pid 9582] ×2 + 12.48sINFOcomponent_container_mt-27process has finished cleanly [pid 9586] ×2 + 12.51sINFObt_navigatorCompleted Cleaning up + 12.51sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.52sINFOobjective_server_node[2026-08-21 04:59:08.912] [moveit_pro_license] [critical] ×2 + 12.52sINFOobjective_server_node************************************************* ×4 + 12.52sINFOobjective_server_node* MoveIt Pro License ×2 + 12.52sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.54sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9472] ×2 + 12.56sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.56sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.56sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.56sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.57sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9471] ×2 + 12.59sINFOobjective_server_node_main-26process has finished cleanly [pid 9585] ×2 + 12.59sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.62sINFOstatic_transform_publisher-4process has finished cleanly [pid 9468] ×2 + 12.64sINFOstatic_transform_publisher-3process has finished cleanly [pid 9467] ×2 + 12.65sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9470] ×2 + 12.66sERRORodom_qos_relay.py-5process has died [pid 9469, 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 + 12.84sERRORcomponent_container_isolated-1process has died [pid 9465, 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_3mhheuaq --params-file /tmp/launch_params_59dunv1p -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.20sINFOros2_control_node-9process has finished cleanly [pid 9473] ×2 + 14.25sINFOweb_bridge-31process has finished cleanly [pid 9592] ×2 + 14.25sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 53 warnings · 115 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855317 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855317 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695238 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695238 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491304 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491304 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778661 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778661 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787288176.70727420 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 5.31) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 5.58) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.298ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.527ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730614 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730614 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787288177.28420877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409045 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409045 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674257 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674257 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.13sINFOjoint_trajectory_controllerReceived new action goal + 7.13sINFOjoint_trajectory_controllerAccepted new action goal + 7.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655984 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655984 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740114 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740114 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.138ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.685ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224643 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224643 ms (missed cycles : 2).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.601ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.680ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225462 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225462 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.491ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783019 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783019 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.765ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994741 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994741 ms (missed cycles : 3).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.082ms + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.339ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285912 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285912 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 4435 particles 723 points - 6.085ms + 14.50sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 5.651ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079879 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079879 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.454ms + 15.03sINFOobjective_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 + 15.04sINFOjoint_trajectory_controllerGot request to cancel goal + 15.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.08sERRORobjective_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: 1787288187.74549723 seconds ×3 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.431ms + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 15.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787288188.33203983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941029 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941029 ms (missed cycles : 2).[0m ×2 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793459 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793459 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.2s	44 warnings · 95 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941761 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941761 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411134 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411134 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742095 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742095 ms (missed cycles : 2).[0m ×2 + 10.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787288088.20146418 seconds ×3 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681936 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681936 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056952 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056952 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787288089.79211879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357079 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357079 ms (missed cycles : 3).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059798 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059798 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	41 warnings · 94 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.844ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988934 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988934 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620126 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620126 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478224 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478224 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986714 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986714 ms (missed cycles : 5).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787288260.84221935 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.269ms + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787288261.42025566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883534 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883534 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770761 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770761 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 10.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	30 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 4.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2).[0m ×2 + 7.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787288024.76659393 seconds ×3 + 8.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787288025.35482645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3).[0m ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	24 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 0.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.829ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.002ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787288339.50295496 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.082ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288340.12609053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.84sINFOmove_groupClearing octomap...[0m ×2 + 4.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288340.63620853 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288341.22358966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288341.82370186 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787087 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787087 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787288120.70225883 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.929ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787288121.29712629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597397 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296408 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820851 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838202 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787288267.31038427 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869230 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787288267.91878152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201780 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124374 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234387 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 0.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323795 ms (missed cycles : 2).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.829ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.002ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873065 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.425ms + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.935ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873638 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787288339.50295496 seconds ×3 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814415 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.082ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787288340.12609053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.84sINFOmove_groupClearing octomap...[0m ×2 + 4.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787288340.63620853 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836375 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787288341.22358966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796623 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787288341.82370186 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 4.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546304 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720771 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918200 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241853 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 4.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787288021.23220134 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698582 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.908ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787288021.81647062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257544 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (3.3189e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOjoint_trajectory_controllerReceived new action goal + 1.88sINFOjoint_trajectory_controllerAccepted new action goal + 1.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510865 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990690 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787288024.76659393 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787288025.35482645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913665 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245427 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 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	23 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092910 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241174 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640077 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359713 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747495 ms (missed cycles : 2).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787288081.96276474 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.143ms + 4.82sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787288082.56133676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816173 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729849 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787288120.70225883 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.929ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787288121.29712629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001605 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703080 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893712 ms (missed cycles : 3).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787288120.70225883 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.929ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787288121.29712629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377336 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338528 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 7.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.30sINFOjoint_trajectory_controllerReceived new action goal + 7.30sINFOjoint_trajectory_controllerAccepted new action goal + 7.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 6.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792022 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359563 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.79sINFOros2_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 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.82sINFOros2_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 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 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: 1787287975.90117621 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

10 skip

− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968257 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825644 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787287975.89090776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787287975.90117621 seconds ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787287976.49146581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787287976.50455046 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831225 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787287977.07792544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787287977.22858953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787287977.84452891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741311 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787287977.89465761 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787287978.47400999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062940 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630541 ms (missed cycles : 3).[0m ×2