MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.5s	12 errors · 318 warnings · 1525 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-12-04-44-56-084629-4353b105a692-7587 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.18sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.18sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.19sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.22sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.24sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.25sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.25sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.26sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.46sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.46sINFOros2_control_node-12process started with pid [7729] ×2 + 4.46sINFOmove_group-24process started with pid [7745] ×2 + 4.46sINFOparameter_manager_node-25process started with pid [7772] ×2 + 4.46sINFOwaypoint_manager_node-26process started with pid [7781] ×2 + 4.46sINFOmove_joint_resampler_node-27process started with pid [7782] ×2 + 4.46sINFOmove_end_effector_resampler_node-28process started with pid [7783] ×2 + 4.46sINFOobjective_server_node_main-29process started with pid [7784] ×2 + 4.46sINFOcomponent_container_mt-30process started with pid [7785] ×2 + 4.46sINFOcomponent_container_mt-31process started with pid [7786] ×2 + 4.46sINFOexecute_objective_bridge-32process started with pid [7787] ×2 + 4.46sINFOui_teleop_bridge-33process started with pid [7788] ×2 + 4.46sINFOweb_bridge-34process started with pid [7789] ×2 + 4.46sINFOtf2_web_republisher_node-35process started with pid [7790] ×2 + 4.46sINFOvideo_server-36process started with pid [7806] ×2 + 4.46sINFOweb_bridge_auth_proxy-37process started with pid [7807] ×2 + 4.46sINFOweb_video_auth_proxy-38process started with pid [7814] ×2 + 4.47sINFOcomponent_container_isolated-1process started with pid [7637] ×2 + 4.48sINFOcomponent_container_isolated-2process started with pid [7638] ×2 + 4.48sINFOstatic_transform_publisher-3process started with pid [7639] ×2 + 4.49sINFOstatic_transform_publisher-4process started with pid [7640] ×2 + 4.49sINFOodom_qos_relay.py-5process started with pid [7641] ×2 + 4.49sINFOforward_stereo_publisher.py-6process started with pid [7642] ×2 + 4.49sINFOlidar_flattener.py-7process started with pid [7643] ×2 + 4.49sINFOstatic_transform_publisher-8process started with pid [7644] ×2 + 4.49sINFOstatic_transform_publisher-9process started with pid [7645] ×2 + 4.49sINFOscan_to_scan_filter_chain-10process started with pid [7727] ×2 + 4.49sINFOscan_to_scan_filter_chain-11process started with pid [7728] ×2 + 4.49sINFOros2-13process started with pid [7730] ×2 + 4.49sINFOros2-14process started with pid [7731] ×2 + 4.49sINFOros2-15process started with pid [7732] ×2 + 4.49sINFOros2-16process started with pid [7733] ×2 + 4.49sINFOros2-17process started with pid [7734] ×2 + 4.49sINFOros2-18process started with pid [7735] ×2 + 4.49sINFOros2-19process started with pid [7736] ×2 + 4.50sINFOros2-20process started with pid [7739] ×2 + 4.50sINFOros2-21process started with pid [7740] ×2 + 4.50sINFOros2-22process started with pid [7741] ×2 + 4.50sINFOros2-23process started with pid [7742] ×2 + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.51sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.51sINFOcontroller_managerupdate rate is 600 Hz + 4.51sINFOcontroller_managerOverruns handling is : enabled + 4.51sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.51sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371554 ms (missed cycles : 6). + 4.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.55sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.55sINFOmap_serverCreating + 4.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.58sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.59sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.59sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.59sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.59sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.59sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.59sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.60sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.60sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.60sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.60sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.60sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.60sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.60sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.60sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371554 ms (missed cycles : 6).[0m ×2 + 4.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.63sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.63sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.64sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.65sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.65sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.69sINFOcontroller_serverCreating controller server + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.72sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.72sINFOvideo_server2026/09/12 04:45:02 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.74sINFOvideo_server2026/09/12 04:45:02 INF configuration loaded from /tmp/moveit-webrtc-6m52l4e2/mediamtx.yml ×2 + 4.74sINFOvideo_server2026/09/12 04:45:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.74sINFOvideo_server2026/09/12 04:45:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.75sINFOlifecycle_manager_localizationCreating + 4.76sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.76sINFOlocal_costmap.local_costmapCreating Costmap + 4.78sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.80sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.80sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.80sINFOmap_serverConfiguring + 4.81sINFOrobot_state_publisherRobot initialized + 4.81sINFOcontroller_managerReceived robot description from topic. + 4.81sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.81sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.82sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.82sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.84sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.84sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.85sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.88sINFOsmoother_serverCreating smoother server + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.94sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.94sINFOamclConfiguring + 4.94sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.94sINFOmap_serverActivating + 4.94sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.96sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.00sINFOplanner_serverCreating + 5.03sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.03sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.05sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.05sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.05sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.06sINFOglobal_costmap.global_costmapCreating Costmap + 5.06sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.06sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.06sINFOamclActivating + 5.06sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.07sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.09sINFOamclSubscribed to map_topic: /map + 5.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.09sINFOamclSubscribed to scan_topic: /scan_merged + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.10sINFOamclCreated reinitialize_global_localization service + 5.10sINFOamclCreated request_nomotion_update service + 5.12sINFOamclA new map was received + 5.12sINFOamclInitializing particle filter instance + 5.15sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.31sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.31sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.32sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.35sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.36sINFObt_navigatorCreating + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.41sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.43sINFOwaypoint_followerCreating + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.51sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.53sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.301213 seconds + 5.53sINFOmove_groupLoaded robot model in 0.301213 seconds[0m ×2 + 5.53sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.53sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.53sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.54sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.58sINFOlifecycle_manager_navigationCreating + 5.62sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.64sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.64sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.64sINFOcontroller_serverConfiguring controller interface + 5.64sINFOcontroller_servergetting progress checker plugins.. + 5.64sINFOcontroller_servergetting goal checker plugins.. + 5.64sINFOcontroller_serverController frequency set to 20.0000Hz + 5.64sINFOlocal_costmap.local_costmapConfiguring + 5.67sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.68sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.72sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.72sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.72sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014980 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014980 ms (missed cycles : 2).[0m ×2 + 5.76sINFOwaypoint_manager_nodeLoaded robot model in 0.302653 seconds[0m ×2 + 5.77sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 5.77sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.77sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.77sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.77sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.77sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.80sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.80sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.81sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.81sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.82sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.83sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.83sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.83sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.84sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.84sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.85sINFOcontroller_serverOptimizer reset ×2 + 5.86sINFOcontroller_serverController Server has FollowPath controllers available. + 5.88sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.89sINFOsmoother_serverConfiguring smoother server + 5.92sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.92sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.93sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.93sINFOplanner_serverConfiguring + 5.93sINFOglobal_costmap.global_costmapConfiguring + 5.96sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.99sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.99sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.99sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.99sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.00sINFOamclParticle filter initialization completed + 6.00sINFOamclInitializing particles from estimated pose and covariance + 6.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.00sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.00sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.00sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.00sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.03sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.03sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.03sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.07sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.07sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.07sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.08sINFOplanner_serverPlanner Server has GridBased planners available. + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.09sINFObehavior_serverConfiguring + 6.10sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.11sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.11sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.11sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.12sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.12sINFObehavior_serverConfiguring spin + 6.13sINFObehavior_serverConfiguring backup + 6.14sINFObehavior_serverConfiguring drive_on_heading + 6.15sINFObehavior_serverConfiguring assisted_teleop + 6.16sINFObehavior_serverConfiguring wait + 6.17sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.17sINFObt_navigatorConfiguring + 6.18sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.19sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.32sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.34sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.34sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.38sINFOwaypoint_followerConfiguring + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sINFOvelocity_smootherConfiguring velocity smoother + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.42sINFOcontroller_serverActivating + 6.42sINFOlocal_costmap.local_costmapActivating + 6.42sINFOlocal_costmap.local_costmapChecking transform + 6.42sINFOlocal_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. ×11 + 6.43sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.43sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.44sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.46sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.46sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.71sINFOwaypoint_manager_node[2026-09-12 04:45:04.432] [moveit_pro_license] [info] ×2 + 6.71sINFOwaypoint_manager_node************************************************* ×4 + 6.71sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.71sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.72sINFOmove_group[2026-09-12 04:45:04.433] [moveit_pro_license] [info] ×2 + 6.72sINFOmove_group************************************************* ×4 + 6.72sINFOmove_group* MoveIt Pro License ×2 + 6.72sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.10sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.10sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.11sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.11sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.11sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.11sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.11sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.11sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.11sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.12sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.12sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.12sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.12sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.12sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.12sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.12sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.12sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.26sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.26sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.26sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.26sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.26sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.26sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.26sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.26sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.26sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.26sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.26sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.26sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.26sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.26sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.26sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.26sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.26sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.27sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.27sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.27sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.27sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.27sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.27sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.31sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.31sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.31sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.31sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.31sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 7.31sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 7.33sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.34sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.35sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895317 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895317 ms (missed cycles : 4).[0m ×2 + 7.35sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.35sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.55sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.55sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.55sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.69sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 7.69sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 7.74sINFOros2-17process has finished cleanly [pid 7734] ×2 + 7.76sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.76sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.77sINFOplatform_velocity_controller_nav2configure successful + 7.77sINFOros2_control_nodeconfigure successful[0m ×6 + 8.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 8.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 8.11sINFOros2-18process has finished cleanly [pid 7735] ×2 + 8.12sINFOobjective_server_node[2026-09-12 04:45:05.840] [moveit_pro_license] [info] ×2 + 8.12sINFOobjective_server_node************************************************* ×4 + 8.12sINFOobjective_server_node* MoveIt Pro License ×2 + 8.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.14sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.14sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.16sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.16sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.16sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.16sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.20sINFOobjective_server_nodeLoaded robot model in 0.0364439 seconds[0m ×2 + 8.20sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.20sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.27sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.30sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.30sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.30sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.31sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.31sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.31sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.31sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.31sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.31sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166499 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166499 ms (missed cycles : 2).[0m ×2 + 8.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.50sINFOros2-14process has finished cleanly [pid 7731] ×2 + 8.50sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.54sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.55sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.55sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 8.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 8.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.67sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.67sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.77sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.79sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.87sINFOcomponent_container_mtLoaded robot model in 0.365526 seconds[0m ×2 + 8.87sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.87sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.96sINFOmove_groupMoveGroup debug mode is ON + 8.96sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.03sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.03sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.17sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.17sINFOmove_group ×8 + 9.17sINFOmove_group****************************************************** ×4 + 9.17sINFOmove_group* MoveGroup using: ×2 + 9.17sINFOmove_group* - apply_planning_scene_service ×2 + 9.17sINFOmove_group* - clear_octomap_service ×2 + 9.17sINFOmove_group* - get_group_urdf ×2 + 9.17sINFOmove_group* - load_geometry_from_file ×2 + 9.17sINFOmove_group* - get_planning_scene_service ×2 + 9.17sINFOmove_group* - kinematics_service ×2 + 9.17sINFOmove_group* - save_geometry_to_file ×2 + 9.17sINFOmove_group* - GetPlanningGroups ×2 + 9.17sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.17sINFOmove_group[0m ×2 + 9.17sINFOmove_group[92mYou can start planning now![0m ×2 + 9.19sINFOros2_control_node[2026-09-12 04:45:06.909] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.19sINFOros2_control_node[2026-09-12 04:45:06.914] [info] Controller state will be published at 10 Hz. ×2 + 9.19sINFOros2_control_node[2026-09-12 04:45:06.915] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448766 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448766 ms (missed cycles : 4).[0m ×2 + 9.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.56sINFOros2-20process has finished cleanly [pid 7739] ×2 + 9.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 9.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 9.59sWARNros2_control_nodeCamera render tick took 1.23 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.62sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.62sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.63sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.63sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.63sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.63sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.63sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.63sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.66sINFOcomponent_container_mt[2026-09-12 04:45:07.378] [moveit_pro_license] [info] ×2 + 9.66sINFOcomponent_container_mt************************************************* ×4 + 9.66sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.66sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.79sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.98sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.98sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.01sINFOros2_control_node[2026-09-12 04:45:07.728] [info] Controller state will be published at 20 Hz. ×2 + 10.01sINFOros2_control_node[2026-09-12 04:45:07.729] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 10.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.34sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.34sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 10.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 10.35sINFOros2-23process has finished cleanly [pid 7742] ×2 + 10.39sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.39sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.40sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.40sINFOplatform_velocity_controllerconfigure successful + 10.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.41sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.41sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370643 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370643 ms (missed cycles : 3).[0m ×2 + 10.64sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789188306.083 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 10.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 10.75sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.75sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.75sINFOros2-16process has finished cleanly [pid 7733] ×2 + 10.75sINFOforce_torque_sensor_broadcasterconfigure successful + 10.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.76sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.76sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.08sINFOros2-13process has finished cleanly [pid 7730] ×2 + 11.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 11.10sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 11.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.19sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.19sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.20sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.20sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.20sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.20sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 11.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302613 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302613 ms (missed cycles : 2).[0m ×2 + 11.52sINFOros2-19process has finished cleanly [pid 7736] ×2 + 11.56sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.56sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.58sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 11.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 11.91sINFOros2-15process has finished cleanly [pid 7732] ×2 + 11.92sINFOlocal_costmap.local_costmapstart + 11.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.03sWARNcontroller_serverParameter controller_server.verbose not found + 12.03sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.14sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.14sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.14sINFOsmoother_serverActivating + 12.14sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.24sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.25sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.25sINFOplanner_serverActivating + 12.25sINFOglobal_costmap.global_costmapActivating + 12.25sINFOglobal_costmap.global_costmapChecking transform + 12.25sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 12.36sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789188309.179 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.38sINFOros2_control_node[2026-09-12 04:45:10.095] [info] Controller state will be published at 20 Hz. ×2 + 12.38sINFOros2_control_node[2026-09-12 04:45:10.096] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727050 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727050 ms (missed cycles : 2).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 6.168ms + 12.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p + 12.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yubw190x --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_wboeu7rg --params-file /tmp/launch_params_amqvo08p [0m ×2 + 12.73sINFOros2-22process has finished cleanly [pid 7741] ×2 + 12.75sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789188310.465476, but only time 1789188310.788479 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.76sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.76sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.76sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.15sINFOros2_control_node[2026-09-12 04:45:10.867] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.15sINFOros2_control_node[2026-09-12 04:45:10.868] [info] Controller state will be published at 10 Hz. ×2 + 13.15sINFOros2_control_node[2026-09-12 04:45:10.869] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.25sINFOglobal_costmap.global_costmapstart + 13.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.47sINFOros2-21process has finished cleanly [pid 7740] ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361242 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361242 ms (missed cycles : 2).[0m ×2 + 14.30sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.30sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.42sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.42sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.42sINFObehavior_serverActivating + 14.42sINFObehavior_serverActivating spin + 14.42sINFObehavior_serverActivating backup + 14.42sINFObehavior_serverActivating drive_on_heading + 14.42sINFObehavior_serverActivating assisted_teleop + 14.42sINFObehavior_serverActivating wait + 14.42sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.52sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.52sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.52sINFObt_navigatorActivating + 14.58sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.68sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.68sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.68sINFOwaypoint_followerActivating + 14.68sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2).[0m ×2 + 14.79sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.79sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.79sINFOvelocity_smootherActivating + 14.79sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.83sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.89sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.89sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.89sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 17.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 18.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.36sINFOobjective_server_nodecaller: ×10 + 18.36sINFOobjective_server_nodetype: 0 ×10 + 18.36sINFOobjective_server_nodename: "" ×10 + 18.36sINFOobjective_server_nodeinstance_id: "" ×10 + 18.36sINFOobjective_server_node ×10 + 18.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.40sINFOmove_groupClearing octomap...[0m ×2 + 18.40sINFOmove_groupOctomap cleared.[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 18.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 19.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 20.13sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.34sINFOobjective_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 + 20.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 20.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 20.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.92sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	66.0s	3 errors · 284 warnings · 252 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.921ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977263 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977263 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.137ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.502ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560661 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560661 ms (missed cycles : 2).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.958ms + 2.27sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.204ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126610 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126610 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOjoint_trajectory_controllerGot request to cancel goal + 2.70sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.70sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.70sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.71sERRORobjective_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: 1789188527.03913903 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 2.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789188527.62713885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191589 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191589 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.449ms + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165850 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165850 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403956 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403956 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.99sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003108 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003108 ms (missed cycles : 3).[0m ×2 + 7.50sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018055 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018055 ms (missed cycles : 2).[0m ×2 + 8.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.974ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339514 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339514 ms (missed cycles : 3).[0m ×2 + 9.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.994ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.233ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445758 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445758 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.433ms + 10.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266854 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266854 ms (missed cycles : 2).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 12.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.561ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273162 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273162 ms (missed cycles : 3).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 7.223ms + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753688 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753688 ms (missed cycles : 2).[0m ×2 + 13.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 13.34sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 5.972ms + 13.91sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 4.280ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293302 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293302 ms (missed cycles : 2).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.498ms + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.481ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857114 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857114 ms (missed cycles : 3).[0m ×2 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326272 ms (missed cycles : 4). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326272 ms (missed cycles : 4).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853827 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853827 ms (missed cycles : 3).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.441ms + 18.09sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218459 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218459 ms (missed cycles : 3).[0m ×2 + 18.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754944 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754944 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086015 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086015 ms (missed cycles : 2).[0m ×2 + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827984 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827984 ms (missed cycles : 2).[0m ×2 + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313612 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313612 ms (missed cycles : 3).[0m ×2 + 23.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839707 ms (missed cycles : 5). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839707 ms (missed cycles : 5).[0m ×2 + 23.64sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 24.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×8 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917244 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917244 ms (missed cycles : 2).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133488 ms (missed cycles : 5). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133488 ms (missed cycles : 5).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.599ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009799 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009799 ms (missed cycles : 3).[0m ×2 + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172779 ms (missed cycles : 3). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172779 ms (missed cycles : 3).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088757 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088757 ms (missed cycles : 3).[0m ×2 + 29.20sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 29.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258215 ms (missed cycles : 4). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258215 ms (missed cycles : 4).[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 30.72sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312417 ms (missed cycles : 3). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312417 ms (missed cycles : 3).[0m ×2 + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512087 ms (missed cycles : 5). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512087 ms (missed cycles : 5).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095905 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095905 ms (missed cycles : 2).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158701 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158701 ms (missed cycles : 3).[0m ×2 + 34.36sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.36sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 35.11sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117998 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117998 ms (missed cycles : 3).[0m ×2 + 36.14sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481033 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481033 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783072 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783072 ms (missed cycles : 2).[0m ×2 + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833010 ms (missed cycles : 4). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833010 ms (missed cycles : 4).[0m ×2 + 39.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820000 ms (missed cycles : 5). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820000 ms (missed cycles : 5).[0m ×2 + 39.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.109ms + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047762 ms (missed cycles : 4). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047762 ms (missed cycles : 4).[0m ×2 + 41.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495990 ms (missed cycles : 2). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495990 ms (missed cycles : 2).[0m ×2 + 42.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935436 ms (missed cycles : 4). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935436 ms (missed cycles : 4).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422174 ms (missed cycles : 3). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422174 ms (missed cycles : 3).[0m ×2 + 44.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904090 ms (missed cycles : 5). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904090 ms (missed cycles : 5).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838953 ms (missed cycles : 5). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838953 ms (missed cycles : 5).[0m ×2 + 46.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038634 ms (missed cycles : 4). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038634 ms (missed cycles : 4).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 48.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 48.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408269 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408269 ms (missed cycles : 3).[0m ×2 + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631317 ms (missed cycles : 3). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631317 ms (missed cycles : 3).[0m ×2 + 49.94sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 50.41sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875787 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875787 ms (missed cycles : 2).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931406 ms (missed cycles : 4). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931406 ms (missed cycles : 4).[0m ×2 + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078863 ms (missed cycles : 5). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.078863 ms (missed cycles : 5).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615057 ms (missed cycles : 3). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615057 ms (missed cycles : 3).[0m ×2 + 54.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.662ms + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463763 ms (missed cycles : 5). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463763 ms (missed cycles : 5).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034860 ms (missed cycles : 2). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034860 ms (missed cycles : 2).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259484 ms (missed cycles : 3). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259484 ms (missed cycles : 3).[0m ×2 + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567706 ms (missed cycles : 5). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567706 ms (missed cycles : 5).[0m ×2 + 58.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149244 ms (missed cycles : 6). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149244 ms (missed cycles : 6).[0m ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302768 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302768 ms (missed cycles : 4).[0m ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174175 ms (missed cycles : 2). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174175 ms (missed cycles : 2).[0m ×2 + 62.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522565 ms (missed cycles : 3). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522565 ms (missed cycles : 3).[0m ×2 + 63.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709507 ms (missed cycles : 2). + 63.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709507 ms (missed cycles : 2).[0m ×2 + 64.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 64.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645515 ms (missed cycles : 4). + 64.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645515 ms (missed cycles : 4).[0m ×2 + 65.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113038 ms (missed cycles : 3). + 65.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113038 ms (missed cycles : 3).[0m ×2 + 66.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 66.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983221 ms (missed cycles : 2). + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983221 ms (missed cycles : 2).[0m ×2 + 67.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 67.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387336 ms (missed cycles : 3). + 67.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387336 ms (missed cycles : 3).[0m ×2 + 68.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 68.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789188593.05733466 seconds ×3 + 68.82sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.82sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930107 ms (missed cycles : 3). + 68.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930107 ms (missed cycles : 3).[0m ×2 + 69.02sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.02sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.27sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789188593.63742781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.417ms + 70.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972743 ms (missed cycles : 2). + 70.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972743 ms (missed cycles : 2).[0m ×2 + 71.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973933 ms (missed cycles : 2). + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973933 ms (missed cycles : 2).[0m ×2 + 72.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 72.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 72.30sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	250 warnings · 201 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682698 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682698 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202222 ms (missed cycles : 4). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202222 ms (missed cycles : 4).[0m ×2 + 8.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.209ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.835ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135555 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135555 ms (missed cycles : 2).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.837ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656287 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656287 ms (missed cycles : 3).[0m ×2 + 11.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.796ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.971ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903123 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903123 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.494ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.147ms + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164228 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164228 ms (missed cycles : 2).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 8.382ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972297 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972297 ms (missed cycles : 2).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.658ms + 14.74sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 4.521ms + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821202 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821202 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.811ms + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.383ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184895 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184895 ms (missed cycles : 3).[0m ×2 + 16.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774727 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774727 ms (missed cycles : 2).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414789 ms (missed cycles : 3). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414789 ms (missed cycles : 3).[0m ×2 + 18.66sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403073 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403073 ms (missed cycles : 3).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863648 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863648 ms (missed cycles : 2).[0m ×2 + 21.41sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071807 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071807 ms (missed cycles : 2).[0m ×2 + 22.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629251 ms (missed cycles : 5). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629251 ms (missed cycles : 5).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711160 ms (missed cycles : 2). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711160 ms (missed cycles : 2).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.414ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318875 ms (missed cycles : 4). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318875 ms (missed cycles : 4).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106716 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106716 ms (missed cycles : 2).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416449 ms (missed cycles : 5). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416449 ms (missed cycles : 5).[0m ×2 + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 28.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951152 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951152 ms (missed cycles : 2).[0m ×2 + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164960 ms (missed cycles : 3). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164960 ms (missed cycles : 3).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174663 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174663 ms (missed cycles : 2).[0m ×2 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743109 ms (missed cycles : 3). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743109 ms (missed cycles : 3).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 32.50sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927457 ms (missed cycles : 3). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927457 ms (missed cycles : 3).[0m ×2 + 33.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 33.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677891 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677891 ms (missed cycles : 2).[0m ×2 + 34.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048325 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048325 ms (missed cycles : 3).[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717518 ms (missed cycles : 3). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717518 ms (missed cycles : 3).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793521 ms (missed cycles : 3). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793521 ms (missed cycles : 3).[0m ×2 + 38.07sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954304 ms (missed cycles : 3). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954304 ms (missed cycles : 3).[0m ×2 + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141902 ms (missed cycles : 5). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141902 ms (missed cycles : 5).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857197 ms (missed cycles : 5). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857197 ms (missed cycles : 5).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550224 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550224 ms (missed cycles : 2).[0m ×2 + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876967 ms (missed cycles : 4). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876967 ms (missed cycles : 4).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171544 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171544 ms (missed cycles : 3).[0m ×2 + 44.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327223 ms (missed cycles : 2). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327223 ms (missed cycles : 2).[0m ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280820 ms (missed cycles : 4). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280820 ms (missed cycles : 4).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063364 ms (missed cycles : 4). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063364 ms (missed cycles : 4).[0m ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424786 ms (missed cycles : 3). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424786 ms (missed cycles : 3).[0m ×2 + 48.66sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239575 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239575 ms (missed cycles : 2).[0m ×2 + 49.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585676 ms (missed cycles : 3). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585676 ms (missed cycles : 3).[0m ×2 + 50.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100070 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100070 ms (missed cycles : 2).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749072 ms (missed cycles : 5). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749072 ms (missed cycles : 5).[0m ×2 + 52.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670830 ms (missed cycles : 5). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670830 ms (missed cycles : 5).[0m ×2 + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147290 ms (missed cycles : 2). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147290 ms (missed cycles : 2).[0m ×2 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813634 ms (missed cycles : 3). + 55.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813634 ms (missed cycles : 3).[0m ×2 + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556778 ms (missed cycles : 3). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556778 ms (missed cycles : 3).[0m ×2 + 57.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195667 ms (missed cycles : 4). + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195667 ms (missed cycles : 4).[0m ×2 + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485808 ms (missed cycles : 2). + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485808 ms (missed cycles : 2).[0m ×2 + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346699 ms (missed cycles : 3). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346699 ms (missed cycles : 3).[0m ×2 + 60.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 60.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789188656.86065650 seconds ×3 + 60.55sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.55sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240844 ms (missed cycles : 4). + 60.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240844 ms (missed cycles : 4).[0m ×2 + 61.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.01sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789188657.44926834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.47sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 61.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.556ms + 61.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355026 ms (missed cycles : 5). + 61.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355026 ms (missed cycles : 5).[0m ×2 + 63.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.304515 ms (missed cycles : 5). + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.304515 ms (missed cycles : 5).[0m ×2 + 64.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217747 ms (missed cycles : 4). + 64.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217747 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	245 warnings · 207 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 1.09sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2).[0m ×2 + 1.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 2.30sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.30sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789188367.79971695 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789188368.37929058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.38sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 3.618ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3).[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.57sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.57sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431625 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431625 ms (missed cycles : 3).[0m ×2 + 6.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787052 ms (missed cycles : 4). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787052 ms (missed cycles : 4).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.569ms + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693100 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693100 ms (missed cycles : 3).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 3.335ms + 9.52sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.674ms + 9.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575765 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575765 ms (missed cycles : 3).[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 10.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665943 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665943 ms (missed cycles : 4).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 11.70sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940620 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940620 ms (missed cycles : 2).[0m ×2 + 12.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458104 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458104 ms (missed cycles : 2).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113510 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113510 ms (missed cycles : 4).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946814 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946814 ms (missed cycles : 3).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736865 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736865 ms (missed cycles : 3).[0m ×2 + 16.86sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054442 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054442 ms (missed cycles : 3).[0m ×2 + 17.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707151 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707151 ms (missed cycles : 2).[0m ×2 + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715358 ms (missed cycles : 2). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715358 ms (missed cycles : 2).[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320613 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320613 ms (missed cycles : 2).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163583 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163583 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892503 ms (missed cycles : 3). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892503 ms (missed cycles : 3).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920009 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920009 ms (missed cycles : 4).[0m ×2 + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927614 ms (missed cycles : 4). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927614 ms (missed cycles : 4).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499841 ms (missed cycles : 3). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499841 ms (missed cycles : 3).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948779 ms (missed cycles : 5). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948779 ms (missed cycles : 5).[0m ×2 + 27.43sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.120ms + 28.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×8 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532507 ms (missed cycles : 3). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532507 ms (missed cycles : 3).[0m ×2 + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490169 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490169 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941046 ms (missed cycles : 2). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941046 ms (missed cycles : 2).[0m ×2 + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888359 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888359 ms (missed cycles : 3).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.610ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050123 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050123 ms (missed cycles : 2).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987032 ms (missed cycles : 3). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987032 ms (missed cycles : 3).[0m ×2 + 33.98sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485673 ms (missed cycles : 4). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485673 ms (missed cycles : 4).[0m ×2 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613837 ms (missed cycles : 3). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613837 ms (missed cycles : 3).[0m ×2 + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926046 ms (missed cycles : 4). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926046 ms (missed cycles : 4).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313719 ms (missed cycles : 4). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313719 ms (missed cycles : 4).[0m ×2 + 38.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948168 ms (missed cycles : 3). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948168 ms (missed cycles : 3).[0m ×2 + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251531 ms (missed cycles : 3). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251531 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153130 ms (missed cycles : 3). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153130 ms (missed cycles : 3).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094019 ms (missed cycles : 4). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094019 ms (missed cycles : 4).[0m ×2 + 43.50sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321867 ms (missed cycles : 3). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321867 ms (missed cycles : 3).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888345 ms (missed cycles : 3). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888345 ms (missed cycles : 3).[0m ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088603 ms (missed cycles : 5). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088603 ms (missed cycles : 5).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081186 ms (missed cycles : 4). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081186 ms (missed cycles : 4).[0m ×2 + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369125 ms (missed cycles : 3). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369125 ms (missed cycles : 3).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918745 ms (missed cycles : 4). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918745 ms (missed cycles : 4).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883842 ms (missed cycles : 3). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883842 ms (missed cycles : 3).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392112 ms (missed cycles : 2). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392112 ms (missed cycles : 2).[0m ×2 + 52.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.620ms + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303312 ms (missed cycles : 2). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303312 ms (missed cycles : 2).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218085 ms (missed cycles : 3). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218085 ms (missed cycles : 3).[0m ×2 + 54.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036971 ms (missed cycles : 4). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036971 ms (missed cycles : 4).[0m ×2 + 54.42sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 55.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 55.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891200 ms (missed cycles : 5). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891200 ms (missed cycles : 5).[0m ×2 + 56.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 59.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 59.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 59.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.07sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.07sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 60.63sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 60.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 62.49sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.49sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.1s	249 warnings · 217 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 1.10sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789188464.29015565 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789188464.86973619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.442ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3).[0m ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591458 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591458 ms (missed cycles : 4).[0m ×2 + 7.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792252 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792252 ms (missed cycles : 2).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.997ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989359 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989359 ms (missed cycles : 3).[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.390ms + 10.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.707ms + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243597 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243597 ms (missed cycles : 2).[0m ×2 + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.831ms + 11.76sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.566ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270112 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270112 ms (missed cycles : 3).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.598ms + 12.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.877ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384804 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384804 ms (missed cycles : 4).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 7.287ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833069 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833069 ms (missed cycles : 3).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 6.468ms + 14.79sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.783ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789419 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789419 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.453ms + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375998 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375998 ms (missed cycles : 3).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895542 ms (missed cycles : 4). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895542 ms (missed cycles : 4).[0m ×2 + 17.18sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205831 ms (missed cycles : 5). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205831 ms (missed cycles : 5).[0m ×2 + 18.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661613 ms (missed cycles : 3). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661613 ms (missed cycles : 3).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272331 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272331 ms (missed cycles : 3).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377855 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377855 ms (missed cycles : 2).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024745 ms (missed cycles : 6). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024745 ms (missed cycles : 6).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667419 ms (missed cycles : 3). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667419 ms (missed cycles : 3).[0m ×2 + 24.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122343 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122343 ms (missed cycles : 2).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.096ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935221 ms (missed cycles : 3). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935221 ms (missed cycles : 3).[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132397 ms (missed cycles : 4). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132397 ms (missed cycles : 4).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051682 ms (missed cycles : 4). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051682 ms (missed cycles : 4).[0m ×2 + 28.35sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793096 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793096 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058096 ms (missed cycles : 2). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058096 ms (missed cycles : 2).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935824 ms (missed cycles : 2). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935824 ms (missed cycles : 2).[0m ×2 + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221102 ms (missed cycles : 4). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221102 ms (missed cycles : 4).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052686 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052686 ms (missed cycles : 3).[0m ×2 + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 33.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.760ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976416 ms (missed cycles : 4). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976416 ms (missed cycles : 4).[0m ×2 + 34.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 35.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538819 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538819 ms (missed cycles : 3).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360614 ms (missed cycles : 3). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360614 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917312 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917312 ms (missed cycles : 3).[0m ×2 + 37.99sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013126 ms (missed cycles : 4). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013126 ms (missed cycles : 4).[0m ×2 + 38.76sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760411 ms (missed cycles : 3). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760411 ms (missed cycles : 3).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671886 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671886 ms (missed cycles : 2).[0m ×2 + 41.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303235 ms (missed cycles : 3). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303235 ms (missed cycles : 3).[0m ×2 + 42.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 42.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965436 ms (missed cycles : 5). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965436 ms (missed cycles : 5).[0m ×2 + 43.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704420 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704420 ms (missed cycles : 3).[0m ×2 + 44.12sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 44.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 44.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374034 ms (missed cycles : 3). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374034 ms (missed cycles : 3).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030588 ms (missed cycles : 3). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030588 ms (missed cycles : 3).[0m ×2 + 47.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198683 ms (missed cycles : 3). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198683 ms (missed cycles : 3).[0m ×2 + 47.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402919 ms (missed cycles : 3). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402919 ms (missed cycles : 3).[0m ×2 + 48.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870756 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870756 ms (missed cycles : 2).[0m ×2 + 49.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835878 ms (missed cycles : 2). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835878 ms (missed cycles : 2).[0m ×2 + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113219 ms (missed cycles : 4). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113219 ms (missed cycles : 4).[0m ×2 + 51.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2).[0m ×2 + 53.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304728 ms (missed cycles : 4). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304728 ms (missed cycles : 4).[0m ×2 + 54.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 54.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218676 ms (missed cycles : 3). + 54.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218676 ms (missed cycles : 3).[0m ×2 + 55.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789188516.41986752 seconds ×3 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792907 ms (missed cycles : 2). + 55.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792907 ms (missed cycles : 2).[0m ×2 + 55.86sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.86sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.87sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789188516.99852180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.35sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 56.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.334ms + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838556 ms (missed cycles : 2). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838556 ms (missed cycles : 2).[0m ×2 + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619160 ms (missed cycles : 4). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619160 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	174 warnings · 381 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.05sINFOobjective_server_nodecaller: ×12 + 1.05sINFOobjective_server_nodetype: 0 ×12 + 1.05sINFOobjective_server_nodename: "" ×12 + 1.06sINFOobjective_server_nodeinstance_id: "" ×12 + 1.06sINFOobjective_server_node ×12 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.10sINFOmove_groupClearing octomap...[0m ×2 + 1.10sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 2.82sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187138 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187138 ms (missed cycles : 2).[0m ×2 + 8.23sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 8.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×8 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322218 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322218 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513734 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513734 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852117 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852117 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564679 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564679 ms (missed cycles : 3).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195304 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195304 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305508 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305508 ms (missed cycles : 2).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 3.417ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762821 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762821 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246953 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246953 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948313 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948313 ms (missed cycles : 2).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362003 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362003 ms (missed cycles : 3).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199708 ms (missed cycles : 4). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199708 ms (missed cycles : 4).[0m ×2 + 19.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874142 ms (missed cycles : 4). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874142 ms (missed cycles : 4).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094568 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094568 ms (missed cycles : 2).[0m ×2 + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771377 ms (missed cycles : 2). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771377 ms (missed cycles : 2).[0m ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026513 ms (missed cycles : 2). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026513 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332169 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332169 ms (missed cycles : 2).[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956822 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956822 ms (missed cycles : 2).[0m ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252745 ms (missed cycles : 3). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252745 ms (missed cycles : 3).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548773 ms (missed cycles : 4). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548773 ms (missed cycles : 4).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728376 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728376 ms (missed cycles : 2).[0m ×2 + 29.80sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038869 ms (missed cycles : 2). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038869 ms (missed cycles : 2).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387421 ms (missed cycles : 4). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387421 ms (missed cycles : 4).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869940 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869940 ms (missed cycles : 3).[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444127 ms (missed cycles : 4). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444127 ms (missed cycles : 4).[0m ×2 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214872 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214872 ms (missed cycles : 2).[0m ×2 + 35.23sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043561 ms (missed cycles : 3). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043561 ms (missed cycles : 3).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660384 ms (missed cycles : 3). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660384 ms (missed cycles : 3).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982820 ms (missed cycles : 2). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982820 ms (missed cycles : 2).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821480 ms (missed cycles : 2). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821480 ms (missed cycles : 2).[0m ×2 + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410462 ms (missed cycles : 3). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410462 ms (missed cycles : 3).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577720 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577720 ms (missed cycles : 2).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929113 ms (missed cycles : 5). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929113 ms (missed cycles : 5).[0m ×2 + 42.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2).[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3).[0m ×2 + 46.62sINFOjoint_trajectory_controllerGoal reached, success! + 46.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 46.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789188361.70088220 seconds ×3 + 46.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4).[0m ×2 + 47.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.22sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789188362.27957439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5).[0m ×2 + 48.32sINFOobjective_server_nodeFound path in 0 iterations (3.2533e-05 s). ×2 + 48.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	173 warnings · 182 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610195 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610195 ms (missed cycles : 4).[0m ×2 + 0.66sWARNglobal_costmap.global_costmapSensor origin at (-1.16, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.66sWARNglobal_costmap.global_costmapSensor origin at (-2.00, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701644 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701644 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.66sWARNglobal_costmap.global_costmapSensor origin at (-1.14, -3.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 1.66sWARNglobal_costmap.global_costmapSensor origin at (-1.99, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642638 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642638 ms (missed cycles : 3).[0m ×2 + 2.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.20sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789188431.51541138 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951148 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951148 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789188433.10001826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646488 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646488 ms (missed cycles : 3).[0m ×2 + 4.66sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 4.66sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406952 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406952 ms (missed cycles : 3).[0m ×2 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612588 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612588 ms (missed cycles : 3).[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188209 ms (missed cycles : 4). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188209 ms (missed cycles : 4).[0m ×2 + 8.66sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.07) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143213 ms (missed cycles : 4). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143213 ms (missed cycles : 4).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.361ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277352 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277352 ms (missed cycles : 2).[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.087ms + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.972ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807900 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807900 ms (missed cycles : 3).[0m ×2 + 11.65sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629918 ms (missed cycles : 4). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629918 ms (missed cycles : 4).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.187ms + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.724ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922767 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922767 ms (missed cycles : 2).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.513ms + 14.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903124 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903124 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.272ms + 15.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.734ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550007 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550007 ms (missed cycles : 3).[0m ×2 + 15.84sINFOamclParticle filter update iteration stats: 3128 particles 723 points - 6.850ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772653 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772653 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 4.609ms + 17.07sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256547 ms (missed cycles : 3). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256547 ms (missed cycles : 3).[0m ×2 + 17.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281226 ms (missed cycles : 5). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281226 ms (missed cycles : 5).[0m ×2 + 18.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601067 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601067 ms (missed cycles : 3).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038931 ms (missed cycles : 3). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038931 ms (missed cycles : 3).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.813959 ms (missed cycles : 6). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.813959 ms (missed cycles : 6).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 22.67sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139528 ms (missed cycles : 2). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139528 ms (missed cycles : 2).[0m ×2 + 23.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×4 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582672 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582672 ms (missed cycles : 3).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046576 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046576 ms (missed cycles : 2).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932182 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932182 ms (missed cycles : 2).[0m ×2 + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742697 ms (missed cycles : 3). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742697 ms (missed cycles : 3).[0m ×2 + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.840897 ms (missed cycles : 6). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.840897 ms (missed cycles : 6).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.666ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080089 ms (missed cycles : 2). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080089 ms (missed cycles : 2).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118168 ms (missed cycles : 4). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118168 ms (missed cycles : 4).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 33.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3).[0m ×2 + 34.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 34.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789188464.29015565 seconds ×3 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3).[0m ×2 + 35.13sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.13sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.53sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.54sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789188464.86973619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.96sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 36.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.442ms + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.6s	102 warnings · 240 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195667 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195667 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485808 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346699 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346699 ms (missed cycles : 3).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 2.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789188656.86065650 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240844 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240844 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789188657.44926834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.556ms + 4.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.16sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355026 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355026 ms (missed cycles : 5).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.304515 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.304515 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217747 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217747 ms (missed cycles : 4).[0m ×2 + 7.27sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030675 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030675 ms (missed cycles : 2).[0m ×2 + 7.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809537 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809537 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807267 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807267 ms (missed cycles : 3).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 9.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.96sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198056 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198056 ms (missed cycles : 2).[0m ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 11.08sINFOobjective_server_nodeFound path in 33 iterations (0.0409247 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.62sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830784 ms (missed cycles : 5). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830784 ms (missed cycles : 5).[0m ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.40sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827996 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827996 ms (missed cycles : 4).[0m ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 13.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653869 ms (missed cycles : 4). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653869 ms (missed cycles : 4).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240186 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240186 ms (missed cycles : 2).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.447ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541030 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541030 ms (missed cycles : 3).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.763ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2).[0m ×2 + 17.60sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.027ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2).[0m ×2 + 18.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4).[0m ×2 + 19.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789188673.47855163 seconds ×3 + 19.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188674.09324408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.95sINFOmove_groupClearing octomap...[0m ×2 + 19.95sINFOmove_groupOctomap cleared.[0m ×2 + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.383ms + 20.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188674.98338103 seconds ×3 + 20.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188675.56056762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2).[0m ×2 + 22.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188676.20075107 seconds ×3 + 22.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	104 errors · 40 warnings · 516 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.027ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4).[0m ×2 + 1.71sINFOjoint_trajectory_controllerGoal reached, success! + 1.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789188673.47855163 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.28sINFOobjective_server_nodecaller: ×4 + 2.28sINFOobjective_server_nodetype: 0 ×4 + 2.28sINFOobjective_server_nodename: "" ×4 + 2.28sINFOobjective_server_nodeinstance_id: "" ×4 + 2.28sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188674.09324408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.383ms + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188674.98338103 seconds ×3 + 3.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188675.56056762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188676.20075107 seconds ×3 + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2).[0m ×2 + 5.49sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203068 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203068 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059834 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059834 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430029 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430029 ms (missed cycles : 3).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002423 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002423 ms (missed cycles : 4).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802671 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802671 ms (missed cycles : 4).[0m ×2 + 10.49sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.50sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_video_auth_proxy-38process has died [pid 7814, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.50sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.51sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-37process has died [pid 7807, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.51sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.55sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.56sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.57sINFOvideo_server-36process has finished cleanly [pid 7806] ×2 + 10.57sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.58sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.59sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.60sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.61sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.62sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.63sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.64sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.66sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.67sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.68sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.70sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.70sINFOcontroller_managerShutdown request received.... + 10.70sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.70sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.70sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.71sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.72sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.73sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.74sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.75sERRORmove_group-24process has died [pid 7745, 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_k034kkif --params-file /tmp/launch_params__ljsimek --params-file /tmp/launch_params_ay7n_7dt --params-file /tmp/launch_params_stqlyjtx --params-file /tmp/launch_params_yimd2aj_ --params-file /tmp/launch_params_44nsnnw8']. ×2 + 10.76sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.77sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.78sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.88sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.89sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.90sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.90sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.90sINFOmap_serverDeactivating + 10.90sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.91sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.91sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.91sINFOcontroller_serverDeactivating + 10.91sINFOlocal_costmap.local_costmapDeactivating + 10.91sINFOvideo_server2026/09/12 04:51:22 INF shutting down gracefully ×2 + 10.91sINFOvideo_server2026/09/12 04:51:22 INF [WebRTC] closing ×2 + 10.91sINFOvideo_server2026/09/12 04:51:22 INF [RTSP] closing ×2 + 10.91sINFOvideo_server2026/09/12 04:51:22 INF waiting for running hooks ×2 + 10.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.91sINFOmap_serverCleaning up + 10.91sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.91sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.92sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.92sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.92sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.92sERRORmove_groupStack trace (most recent call last) in thread 8436: ×2 + 10.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f605623da63, in __clone ×2 + 10.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60561b0aa3, in ×2 + 10.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6056442db3, in ×2 + 10.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6056ba6b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f60567d4620, in rclcpp::Rate::sleep() ×2 + 10.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6056716d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f60566d8087, in ×2 + 10.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6056411390, in __cxa_throw ×2 + 10.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60563fba54, in std::terminate() ×2 + 10.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60564110d9, in ×2 + 10.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60563fbff4, in ×2 + 10.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f605613c8fe, in abort ×2 + 10.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f605615927d, in raise ×2 + 10.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60561b2b2c, in pthread_kill ×2 + 10.92sERRORmove_groupAborted (Signal sent by tkill() 7745 0) ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.92sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.92sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.92sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.92sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.92sINFOodom_qos_relay.pymain() ×2 + 10.92sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.92sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.92sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.92sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.92sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.92sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.92sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.93sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.93sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.93sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.93sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.93sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.93sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.93sERRORamclThe bond connection to the lifecycle manager has been broken + 11.01sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.02sINFOcontroller_serverCleaning up + 11.02sINFOlocal_costmap.local_costmapCleaning up + 11.07sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.07sINFOsmoother_serverDeactivating + 11.07sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.07sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.07sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.07sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.07sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.07sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.07sINFOvelocity_smootherDeactivating + 11.07sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.08sINFOsmoother_serverCleaning up + 11.09sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.09sINFOplanner_serverDeactivating + 11.09sINFOglobal_costmap.global_costmapDeactivating + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.19sINFOwaypoint_followerDeactivating + 11.19sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.23sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.23sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.24sINFOplanner_serverCleaning up + 11.26sINFOglobal_costmap.global_costmapCleaning up + 11.27sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.27sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.30sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.30sINFObt_navigatorDeactivating + 11.30sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.30sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.30sINFObehavior_serverDeactivating + 11.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.31sINFObehavior_serverCleaning up + 11.31sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.31sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.31sINFOwaypoint_followerCleaning up + 11.32sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.32sINFOvelocity_smootherCleaning up + 11.32sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.41sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.41sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.41sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.42sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.42sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.44sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.44sINFObt_navigatorCleaning up + 11.62sINFObt_navigatorCompleted Cleaning up + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.62sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.62sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.62sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.62sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7790] ×2 + 11.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.62sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.70sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7783] ×2 + 11.71sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7782] ×2 + 11.71sINFOui_teleop_bridge-33process has finished cleanly [pid 7788] ×2 + 11.71sINFOexecute_objective_bridge-32process has finished cleanly [pid 7787] ×2 + 11.75sINFOcomponent_container_mt-31process has finished cleanly [pid 7786] ×2 + 11.75sINFOparameter_manager_node-25process has finished cleanly [pid 7772] ×2 + 11.76sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7728] ×2 + 11.77sINFOwaypoint_manager_node-26process has finished cleanly [pid 7781] ×2 + 11.77sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7727] ×2 + 11.78sINFOstatic_transform_publisher-9process has finished cleanly [pid 7645] ×2 + 11.79sINFOstatic_transform_publisher-8process has finished cleanly [pid 7644] ×2 + 11.80sINFOobjective_server_node[2026-09-12 04:51:23.537] [moveit_pro_license] [critical] ×2 + 11.80sINFOobjective_server_node************************************************* ×4 + 11.80sINFOobjective_server_node* MoveIt Pro License ×2 + 11.80sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.80sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.80sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.80sINFOlidar_flattener.pymain() ×2 + 11.80sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.80sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.80sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.80sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.80sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.80sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.80sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.80sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.84sINFOcomponent_container_mt-30process has finished cleanly [pid 7785] ×2 + 11.85sERRORlidar_flattener.py-7process has died [pid 7643, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_lf5nrrwe']. ×2 + 11.88sERRORodom_qos_relay.py-5process has died [pid 7641, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.88sINFOobjective_server_node_main-29process has finished cleanly [pid 7784] ×2 + 11.89sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.89sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7642] ×2 + 11.93sINFOstatic_transform_publisher-4process has finished cleanly [pid 7640] ×2 + 11.93sERRORcomponent_container_isolated-1process has died [pid 7637, 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_g7szclkf --params-file /tmp/launch_params_ex_wpscg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.94sINFOstatic_transform_publisher-3process has finished cleanly [pid 7639] ×2 + 13.24sINFOweb_bridge-34process has finished cleanly [pid 7789] ×2 + 13.24sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.29sERRORcomponent_container_isolated-2process has died [pid 7638, 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_g7szclkf --params-file /tmp/launch_params_dh6zysg7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.43sINFOros2_control_node-12process has finished cleanly [pid 7729] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.6s	3 errors · 94 warnings · 154 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2).[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304728 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304728 ms (missed cycles : 4).[0m ×2 + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218676 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218676 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789188516.41986752 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792907 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792907 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789188516.99852180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.334ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838556 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838556 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619160 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619160 ms (missed cycles : 4).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550776 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550776 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312796 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312796 ms (missed cycles : 2).[0m ×2 + 7.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.803ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065887 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065887 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.712ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602454 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602454 ms (missed cycles : 3).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.236ms + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.921ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977263 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977263 ms (missed cycles : 2).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.137ms + 11.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.502ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560661 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560661 ms (missed cycles : 2).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.958ms + 12.95sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.204ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126610 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126610 ms (missed cycles : 2).[0m ×2 + 13.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.38sINFOjoint_trajectory_controllerGot request to cancel goal + 13.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.39sERRORobjective_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: 1789188527.03913903 seconds ×3 + 13.49sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 2.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 13.69sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.69sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789188527.62713885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191589 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191589 ms (missed cycles : 3).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.449ms + 14.38sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165850 ms (missed cycles : 5). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165850 ms (missed cycles : 5).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403956 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403956 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	88 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2 + 7.08sWARNglobal_costmap.global_costmapSensor origin at (-1.16, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.08sWARNglobal_costmap.global_costmapSensor origin at (-2.01, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610195 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610195 ms (missed cycles : 4).[0m ×2 + 8.08sWARNglobal_costmap.global_costmapSensor origin at (-2.00, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701644 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701644 ms (missed cycles : 3).[0m ×2 + 8.75sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.08sWARNglobal_costmap.global_costmapSensor origin at (-1.14, -3.20) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 9.08sWARNglobal_costmap.global_costmapSensor origin at (-1.99, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 9.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642638 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642638 ms (missed cycles : 3).[0m ×2 + 9.63sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789188431.51541138 seconds ×3 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951148 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951148 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.17sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789188433.10001826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.61sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646488 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646488 ms (missed cycles : 3).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406952 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406952 ms (missed cycles : 3).[0m ×2 + 13.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612588 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612588 ms (missed cycles : 3).[0m ×2 + 13.99sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	65 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113038 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113038 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983221 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983221 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387336 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387336 ms (missed cycles : 3).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789188593.05733466 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930107 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930107 ms (missed cycles : 3).[0m ×2 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789188593.63742781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.417ms + 3.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972743 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972743 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973933 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973933 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 9.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.90sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 11.67sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 12.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	44 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3).[0m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789188361.70088220 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789188362.27957439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5).[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.2533e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 7.83sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2).[0m ×2 + 8.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 9.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789188367.79971695 seconds ×3 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 9.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.60sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789188368.37929058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 10.11sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 3.618ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2).[0m ×2 + 12.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.5s	29 warnings · 118 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.763ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2).[0m ×2 + 0.54sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.027ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789188673.47855163 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188674.09324408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.383ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188674.98338103 seconds ×3 + 3.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188675.56056762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188676.20075107 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203068 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203068 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.10sINFOmove_groupClearing octomap...[0m ×2 + 1.10sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 2.82sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	22 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3).[0m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789188361.70088220 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789188362.27957439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5).[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.2533e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	22 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526659 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667281 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597860 ms (missed cycles : 3).[0m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789188361.70088220 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071744 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789188362.27957439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743271 ms (missed cycles : 5).[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.2533e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355897 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.426ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627917 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 1.09sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519779 ms (missed cycles : 2).[0m ×2 + 1.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 2.30sINFOjoint_trajectory_controllerGoal reached, success! + 2.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789188367.79971695 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992632 ms (missed cycles : 4).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.87sINFOobjective_server_nodename: "" ×2 + 2.87sINFOobjective_server_nodeinstance_id: "" ×2 + 2.87sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789188368.37929058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.38sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 3.618ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091027 ms (missed cycles : 3).[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141613 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal + 5.57sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727949 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	45 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481696 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968776 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622889 ms (missed cycles : 4).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849345 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789188425.09942627 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.57sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789188425.68526793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.537ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858379 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674480 ms (missed cycles : 3).[0m ×2 + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-1.17, -3.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.08sWARNglobal_costmap.global_costmapSensor origin at (-2.02, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657444 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 1.10sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789188464.29015565 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789188464.86973619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.442ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3).[0m ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 1.10sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789188464.29015565 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789188464.86973619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.442ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3).[0m ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420914 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 1.10sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622560 ms (missed cycles : 3).[0m ×2 + 2.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789188464.29015565 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555963 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.76sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789188464.86973619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.442ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050771 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802184 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836127 ms (missed cycles : 3).[0m ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636486 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835644 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996561 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789188599.52757716 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315329 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789188600.12051558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981410 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708173 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	20 warnings · 118 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.763ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021701 ms (missed cycles : 2).[0m ×2 + 0.54sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.027ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857567 ms (missed cycles : 2).[0m ×2 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035690 ms (missed cycles : 4).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789188673.47855163 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789188674.09324408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955942 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.383ms + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789188674.98338103 seconds ×3 + 3.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789188675.56056762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543246 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789188676.20075107 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085235 ms (missed cycles : 2).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_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 1.679877 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal + 6.51sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 309 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal + 6.95sINFOjoint_trajectory_controllerAccepted new action goal + 6.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	32 warnings · 314 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2).[0m ×2 + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.15sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.68sINFOobjective_server_nodecaller: ×10 + 3.68sINFOobjective_server_nodetype: 0 ×10 + 3.68sINFOobjective_server_nodename: "" ×10 + 3.68sINFOobjective_server_nodeinstance_id: "" ×10 + 3.68sINFOobjective_server_node ×10 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	29 warnings · 311 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587220 ms (missed cycles : 2).[0m ×2 + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.15sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.68sINFOobjective_server_nodecaller: ×10 + 3.68sINFOobjective_server_nodetype: 0 ×10 + 3.68sINFOobjective_server_nodename: "" ×10 + 3.68sINFOobjective_server_nodeinstance_id: "" ×10 + 3.68sINFOobjective_server_node ×10 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	—	createvector.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.99sINFOobjective_server_nodecaller: ×10 + 2.99sINFOobjective_server_nodetype: 0 ×10 + 2.99sINFOobjective_server_nodename: "" ×10 + 2.99sINFOobjective_server_nodeinstance_id: "" ×10 + 2.99sINFOobjective_server_node ×10 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944898 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_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 1.679877 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal + 6.51sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 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	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454586 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831958 ms (missed cycles : 4).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058163 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789188316.11826420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789188316.12847400 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576711 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789188316.71299410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789188316.72310495 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789188317.29732656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789188317.44789529 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370262 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789188318.04317498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789188318.11330128 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789188318.68434834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679877 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127858 ms (missed cycles : 4).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771710 ms (missed cycles : 3).[0m ×2