80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.4s | 24 errors · 38 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.88sINFOobjective_server_nodecaller: ×10 + 1.88sINFOobjective_server_nodetype: 0 ×10 + 1.88sINFOobjective_server_nodename: "" ×10 + 1.88sINFOobjective_server_nodeinstance_id: "" ×10 + 1.88sINFOobjective_server_node ×10 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 6.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 7.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.4s | 30 errors · 41 warnings · 276 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.94sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 1.36sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.36sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.12sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 6.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 6.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 27 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 1.07sINFOjoint_trajectory_controllerGoal reached, success! + 1.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.61sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.61sINFOobjective_server_nodecaller: ×8 + 1.61sINFOobjective_server_nodetype: 0 ×8 + 1.61sINFOobjective_server_nodename: "" ×8 + 1.61sINFOobjective_server_nodeinstance_id: "" ×8 + 1.61sINFOobjective_server_node ×8 + 1.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 2.42sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.42sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.38sINFOmove_groupClearing octomap...[0m ×2 + 4.38sINFOmove_groupOctomap cleared.[0m ×2 + 4.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789754094.57426858 seconds ×3 + 7.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.33sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789754095.14800835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 32 warnings · 226 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 2.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.26sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.26sINFOobjective_server_nodecaller: ×8 + 3.26sINFOobjective_server_nodetype: 0 ×8 + 3.26sINFOobjective_server_nodename: "" ×8 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.63sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 4.04sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.05sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.10sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 6.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 26 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853598 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853598 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2).[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.73sINFOobjective_server_nodecaller: ×4 + 2.73sINFOobjective_server_nodetype: 0 ×4 + 2.73sINFOobjective_server_nodename: "" ×4 + 2.73sINFOobjective_server_nodeinstance_id: "" ×4 + 2.73sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789754081.71929669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.49sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789754082.43948436 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789754083.04537749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3).[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312973 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312973 ms (missed cycles : 5).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 41 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 0.13sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.13sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.76sINFOobjective_server_nodecaller: ×8 + 0.76sINFOobjective_server_nodetype: 0 ×8 + 0.76sINFOobjective_server_nodename: "" ×8 + 0.76sINFOobjective_server_nodeinstance_id: "" ×8 + 0.76sINFOobjective_server_node ×8 + 0.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 5.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386829 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386829 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 393 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.59sINFOobjective_server_nodecaller: ×12 + 0.59sINFOobjective_server_nodetype: 0 ×12 + 0.59sINFOobjective_server_nodename: "" ×12 + 0.59sINFOobjective_server_nodeinstance_id: "" ×12 + 0.59sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098931 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098931 ms (missed cycles : 4).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175044 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175044 ms (missed cycles : 2).[0m ×2 + 8.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649876 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649876 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501444 ms (missed cycles : 4). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501444 ms (missed cycles : 4).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303692 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303692 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753796 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753796 ms (missed cycles : 3).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609275 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609275 ms (missed cycles : 2).[0m ×2 + 14.27sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.115ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043121 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043121 ms (missed cycles : 3).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667102 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667102 ms (missed cycles : 2).[0m ×2 + 16.18sWARNros2_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 + 16.20sWARNros2_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 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694007 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694007 ms (missed cycles : 2).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628450 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628450 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991435 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991435 ms (missed cycles : 3).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386893 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386893 ms (missed cycles : 4).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791239 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791239 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429617 ms (missed cycles : 4). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429617 ms (missed cycles : 4).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561536 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561536 ms (missed cycles : 2).[0m ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785387 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785387 ms (missed cycles : 3).[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968889 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968889 ms (missed cycles : 2).[0m ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930050 ms (missed cycles : 2). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930050 ms (missed cycles : 2).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917490 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917490 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708326 ms (missed cycles : 3). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708326 ms (missed cycles : 3).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763085 ms (missed cycles : 3). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763085 ms (missed cycles : 3).[0m ×2 + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114564 ms (missed cycles : 4). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114564 ms (missed cycles : 4).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295919 ms (missed cycles : 2). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295919 ms (missed cycles : 2).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945300 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945300 ms (missed cycles : 2).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260018 ms (missed cycles : 2). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260018 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483649 ms (missed cycles : 4). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483649 ms (missed cycles : 4).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707018 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707018 ms (missed cycles : 2).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594667 ms (missed cycles : 3). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594667 ms (missed cycles : 3).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613919 ms (missed cycles : 3). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613919 ms (missed cycles : 3).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362994 ms (missed cycles : 2). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362994 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313816 ms (missed cycles : 4). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313816 ms (missed cycles : 4).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776766 ms (missed cycles : 2). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776766 ms (missed cycles : 2).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822729 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822729 ms (missed cycles : 3).[0m ×2 + 42.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3).[0m ×2 + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2).[0m ×2 + 46.26sINFOjoint_trajectory_controllerGoal reached, success! + 46.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789754058.70393062 seconds ×3 + 46.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 46.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789754059.28273058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5).[0m ×2 + 47.91sINFOobjective_server_nodeFound path in 0 iterations (2.9251e-05 s). ×2 + 47.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3).[0m ×2 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2).[0m ×2 + 49.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 98 errors · 37 warnings · 484 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.61sINFOmove_groupClearing octomap...[0m ×2 + 0.61sINFOmove_groupOctomap cleared.[0m ×2 + 0.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789754094.57426858 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789754095.14800835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336183 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336183 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789754095.98812819 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209524 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209524 ms (missed cycles : 2).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569998 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569998 ms (missed cycles : 4).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780467 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780467 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359831 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359831 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028700 ms (missed cycles : 4). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028700 ms (missed cycles : 4).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190422 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190422 ms (missed cycles : 2).[0m ×2 + 10.49sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.53sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_video_auth_proxy-37process has died [pid 8907, 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 + 10.53sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.55sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORweb_bridge_auth_proxy-36process has died [pid 8904, 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 + 10.55sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.58sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.60sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.60sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.61sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.62sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.63sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.64sINFOvideo_server-35process has finished cleanly [pid 8903] ×2 + 10.64sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.65sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.66sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.68sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.69sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.70sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.71sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.71sINFOcontroller_managerShutdown request received.... + 10.71sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.71sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.71sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.71sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.71sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.71sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.72sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.72sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.72sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.72sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.72sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.72sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.72sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.72sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.72sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.72sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.72sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.72sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.72sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.72sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.72sINFOcontroller_managerShutting down the controller manager. + 10.73sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.74sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.76sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.77sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.78sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.79sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.80sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.81sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.81sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.81sINFOmap_serverDeactivating + 10.81sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.82sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.82sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.82sINFOcontroller_serverDeactivating + 10.82sINFOmap_serverCleaning up + 10.82sINFOlocal_costmap.local_costmapDeactivating + 10.82sINFOvideo_server2026/09/18 17:55:02 INF shutting down gracefully ×2 + 10.82sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.82sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOvideo_server2026/09/18 17:55:02 INF [WebRTC] closing ×2 + 10.82sINFOvideo_server2026/09/18 17:55:02 INF [RTSP] closing ×2 + 10.82sINFOvideo_server2026/09/18 17:55:02 INF waiting for running hooks ×2 + 10.83sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.83sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.83sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.84sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.84sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.84sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.84sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.84sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8902] ×2 + 10.84sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.84sINFOodom_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 + 10.84sINFOodom_qos_relay.pymain() ×2 + 10.84sINFOodom_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 + 10.84sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.84sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.84sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.84sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.84sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.84sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.84sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.84sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.84sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.84sERRORamclThe bond connection to the lifecycle manager has been broken + 10.84sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 10.88sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.89sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8895] ×2 + 10.89sINFOui_teleop_bridge-32process has finished cleanly [pid 8900] ×2 + 10.91sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8894] ×2 + 10.92sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.92sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.92sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.93sINFOwaypoint_manager_node-25process has finished cleanly [pid 8893] ×2 + 10.93sINFOexecute_objective_bridge-31process has finished cleanly [pid 8899] ×2 + 10.93sINFOparameter_manager_node-24process has finished cleanly [pid 8859] ×2 + 10.93sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.93sINFOcontroller_serverCleaning up + 10.93sINFOlocal_costmap.local_costmapCleaning up + 10.95sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8839] ×2 + 10.96sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8746] ×2 + 10.97sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.97sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.97sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.97sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.97sINFOvelocity_smootherDeactivating + 10.97sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.97sINFOstatic_transform_publisher-8process has finished cleanly [pid 8745] ×2 + 10.97sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.97sINFOsmoother_serverDeactivating + 10.97sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.98sINFOcomponent_container_mt-30process has finished cleanly [pid 8898] ×2 + 10.98sINFOsmoother_serverCleaning up + 10.99sINFOstatic_transform_publisher-7process has finished cleanly [pid 8744] ×2 + 11.00sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.00sINFOlidar_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 + 11.00sINFOlidar_flattener.pymain() ×2 + 11.00sINFOlidar_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 + 11.00sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.00sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.00sINFOplanner_serverDeactivating + 11.00sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.00sINFOglobal_costmap.global_costmapDeactivating + 11.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.00sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.00sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.00sINFOobjective_server_node[2026-09-18 17:55:02.559] [moveit_pro_license] [info] ×2 + 11.00sINFOobjective_server_node************************************************* ×4 + 11.00sINFOobjective_server_node* MoveIt Pro License ×2 + 11.00sINFOobjective_server_node* Application has successfully terminated ×2 + 11.00sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.00sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.00sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.00sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.00sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.00sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.02sINFOstatic_transform_publisher-4process has finished cleanly [pid 8741] ×2 + 11.03sINFOstatic_transform_publisher-3process has finished cleanly [pid 8740] ×2 + 11.04sINFOmove_group-23process has finished cleanly [pid 8858] ×2 + 11.05sERRORlidar_flattener.py-6process has died [pid 8743, 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_td54u7sn']. ×2 + 11.07sINFOobjective_server_node_main-28process has finished cleanly [pid 8896] ×2 + 11.07sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.07sERRORodom_qos_relay.py-5process has died [pid 8742, 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 + 11.08sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.08sINFOwaypoint_followerDeactivating + 11.08sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.08sINFOcomponent_container_mt-29process has finished cleanly [pid 8897] ×2 + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.19sINFObt_navigatorDeactivating + 11.19sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.30sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.30sINFObehavior_serverDeactivating + 11.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.34sERRORcomponent_container_isolated-2process has died [pid 8739, 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_zxn9q7gg --params-file /tmp/launch_params_8c_scc9e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.42sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.42sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.42sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.42sERRORsmoother_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: smoother_server + 11.42sINFOlifecycle_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 + 11.42sINFOvelocity_smootherCleaning up + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.42sINFOwaypoint_followerCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.45sINFObt_navigatorCleaning up + 11.56sINFOros2_control_node-11process has finished cleanly [pid 8840] ×2 + 11.62sINFObt_navigatorCompleted Cleaning up + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.62sINFObehavior_serverCleaning up + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.67sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.67sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.67sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.67sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.73sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.73sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.74sINFOplanner_serverCleaning up + 11.76sINFOglobal_costmap.global_costmapCleaning up + 11.77sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.77sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.80sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.80sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.80sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.80sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.12sERRORcomponent_container_isolated-1process has died [pid 8738, 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_zxn9q7gg --params-file /tmp/launch_params_dsdnr7m2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.28sINFOweb_bridge-33process has finished cleanly [pid 8901] ×2 + 13.28sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 30 errors · 67 warnings · 273 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.58sINFOobjective_server_nodecaller: ×10 + 0.58sINFOobjective_server_nodetype: 0 ×10 + 0.58sINFOobjective_server_nodename: "" ×10 + 0.58sINFOobjective_server_nodeinstance_id: "" ×10 + 0.58sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 1.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.32sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 4.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386829 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386829 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467107 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467107 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417137 ms (missed cycles : 4). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417137 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485896 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485896 ms (missed cycles : 3).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359547 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359547 ms (missed cycles : 3).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853598 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853598 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789754081.71929669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2).[0m ×2 + 14.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789754082.43948436 seconds ×3 + 15.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.44sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.48sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789754083.04537749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3).[0m ×2 + 15.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 15.94sINFOjoint_trajectory_controllerReceived new action goal + 15.94sINFOjoint_trajectory_controllerAccepted new action goal + 15.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 47 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574108 ms (missed cycles : 2).[0m ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669665 ms (missed cycles : 3).[0m ×2 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.67sINFOobjective_server_nodecaller: ×10 + 1.67sINFOobjective_server_nodetype: 0 ×10 + 1.67sINFOobjective_server_nodename: "" ×10 + 1.67sINFOobjective_server_nodeinstance_id: "" ×10 + 1.67sINFOobjective_server_node ×10 + 1.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789754081.71929669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024589 ms (missed cycles : 2).[0m ×2 + 2.42sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.43sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789754082.43948436 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789754083.04537749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559149 ms (missed cycles : 3).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226151 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312973 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312973 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 8.84sINFOjoint_trajectory_controllerGoal reached, success! + 8.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 9.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 10.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 10.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 11.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 12.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.12sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.16sINFOmove_groupClearing octomap...[0m ×2 + 12.16sINFOmove_groupOctomap cleared.[0m ×2 + 12.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 12 errors · 42 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789754058.70393062 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.53sINFOobjective_server_nodecaller: ×8 + 3.53sINFOobjective_server_nodetype: 0 ×8 + 3.53sINFOobjective_server_nodename: "" ×8 + 3.53sINFOobjective_server_nodeinstance_id: "" ×8 + 3.53sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789754059.28273058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.9251e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 + 7.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 7.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 9.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 9.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.62sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.00sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 10.41sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 10.41sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 11.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.04sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 11.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 11.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 12.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.43sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.0s | 12 errors · 35 warnings · 221 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.54sINFOobjective_server_nodecaller: ×8 + 0.54sINFOobjective_server_nodetype: 0 ×8 + 0.54sINFOobjective_server_nodename: "" ×8 + 0.54sINFOobjective_server_nodeinstance_id: "" ×8 + 0.54sINFOobjective_server_node ×8 + 0.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 1.35sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.35sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.31sINFOmove_groupClearing octomap...[0m ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×2 + 3.32sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.32sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789754094.57426858 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789754095.14800835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336183 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336183 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789754095.98812819 seconds ×3 + 7.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209524 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209524 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569998 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569998 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.59sINFOobjective_server_nodecaller: ×10 + 0.59sINFOobjective_server_nodetype: 0 ×10 + 0.59sINFOobjective_server_nodename: "" ×10 + 0.59sINFOobjective_server_nodeinstance_id: "" ×10 + 0.59sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789754058.70393062 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789754059.28273058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.9251e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837010 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759902 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333175 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789754058.70393062 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789754059.28273058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693139 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (2.9251e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817563 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536781 ms (missed cycles : 2).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 173 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116551 ms (missed cycles : 2).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 2.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 + 3.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.63sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 4.04sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.05sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.10sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.88sINFOobjective_server_nodecaller: ×8 + 1.88sINFOobjective_server_nodetype: 0 ×8 + 1.88sINFOobjective_server_nodename: "" ×8 + 1.88sINFOobjective_server_nodeinstance_id: "" ×8 + 1.88sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.88sINFOobjective_server_nodecaller: ×8 + 1.88sINFOobjective_server_nodetype: 0 ×8 + 1.88sINFOobjective_server_nodename: "" ×8 + 1.88sINFOobjective_server_nodeinstance_id: "" ×8 + 1.88sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.88sINFOobjective_server_nodecaller: ×8 + 1.88sINFOobjective_server_nodetype: 0 ×8 + 1.88sINFOobjective_server_nodename: "" ×8 + 1.88sINFOobjective_server_nodeinstance_id: "" ×8 + 1.88sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.88sINFOobjective_server_nodecaller: ×8 + 1.88sINFOobjective_server_nodetype: 0 ×8 + 1.88sINFOobjective_server_nodename: "" ×8 + 1.88sINFOobjective_server_nodeinstance_id: "" ×8 + 1.88sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866691 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 1.31sINFOjoint_trajectory_controllerGoal reached, success! + 1.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 1.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789754064.79286790 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097270 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.88sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.88sINFOobjective_server_nodecaller: ×8 + 1.88sINFOobjective_server_nodetype: 0 ×8 + 1.88sINFOobjective_server_nodename: "" ×8 + 1.88sINFOobjective_server_nodeinstance_id: "" ×8 + 1.88sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789754065.37308931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.26sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.493ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 0.13sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.13sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.76sINFOobjective_server_nodecaller: ×8 + 0.76sINFOobjective_server_nodetype: 0 ×8 + 0.76sINFOobjective_server_nodename: "" ×8 + 0.76sINFOobjective_server_nodeinstance_id: "" ×8 + 0.76sINFOobjective_server_node ×8 + 0.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 5.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 0.13sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.13sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.76sINFOobjective_server_nodecaller: ×8 + 0.76sINFOobjective_server_nodetype: 0 ×8 + 0.76sINFOobjective_server_nodename: "" ×8 + 0.76sINFOobjective_server_nodeinstance_id: "" ×8 + 0.76sINFOobjective_server_node ×8 + 0.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 5.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171842 ms (missed cycles : 2).[0m ×2 + 0.13sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.13sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789754066.12348604 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.76sINFOobjective_server_nodecaller: ×8 + 0.76sINFOobjective_server_nodetype: 0 ×8 + 0.76sINFOobjective_server_nodename: "" ×8 + 0.76sINFOobjective_server_nodeinstance_id: "" ×8 + 0.76sINFOobjective_server_node ×8 + 0.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789754066.79471540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333005 ms (missed cycles : 2).[0m ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789754067.57489204 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794788 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789754068.17729449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789754068.95752048 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374078 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789754069.56487441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019569 ms (missed cycles : 4).[0m ×2 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789754070.27504873 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789754070.88743782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750482 ms (missed cycles : 2).[0m ×2 + 5.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789754071.60116291 seconds ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656676 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747614 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729628 ms (missed cycles : 3).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! + 2.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 3.54sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.54sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 4.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.50sINFOmove_groupClearing octomap...[0m ×2 + 5.50sINFOmove_groupOctomap cleared.[0m ×2 + 5.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 218 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789754088.85550523 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532945 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.54sINFOobjective_server_nodecaller: ×8 + 0.54sINFOobjective_server_nodetype: 0 ×8 + 0.54sINFOobjective_server_nodename: "" ×8 + 0.54sINFOobjective_server_nodeinstance_id: "" ×8 + 0.54sINFOobjective_server_node ×8 + 0.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789754089.43645263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633895 ms (missed cycles : 4).[0m ×2 + 1.35sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.35sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789754090.20663738 seconds ×3 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789754090.82406259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052387 ms (missed cycles : 2).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789754091.56431150 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789754092.16419268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.31sINFOmove_groupClearing octomap...[0m ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×2 + 3.32sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.32sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862621 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354292 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789754094.57426858 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789754095.14800835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.6s | 76 errors · 509 warnings · 2533 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/2026-09-18-17-51-14-488327-0e44eafef19a-7573 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.16sINFOros2_control_node-11process started with pid [7725] + 5.16sINFOmove_group-23process started with pid [7743] + 5.16sINFOparameter_manager_node-24process started with pid [7744] + 5.16sINFOwaypoint_manager_node-25process started with pid [7778] + 5.16sINFOmove_joint_resampler_node-26process started with pid [7779] + 5.16sINFOmove_end_effector_resampler_node-27process started with pid [7780] + 5.16sINFOobjective_server_node_main-28process started with pid [7782] + 5.17sINFOcomponent_container_mt-29process started with pid [7802] + 5.17sINFOcomponent_container_mt-30process started with pid [7807] + 5.17sINFOexecute_objective_bridge-31process started with pid [7821] + 5.17sINFOui_teleop_bridge-32process started with pid [7824] + 5.17sINFOweb_bridge-33process started with pid [7825] + 5.17sINFOtf2_web_republisher_node-34process started with pid [7826] + 5.17sINFOvideo_server-35process started with pid [7827] + 5.17sINFOweb_bridge_auth_proxy-36process started with pid [7828] + 5.17sINFOweb_video_auth_proxy-37process started with pid [7831] + 5.18sINFOcomponent_container_isolated-1process started with pid [7623] + 5.18sINFOcomponent_container_isolated-2process started with pid [7624] + 5.18sINFOstatic_transform_publisher-3process started with pid [7625] + 5.18sINFOstatic_transform_publisher-4process started with pid [7626] + 5.18sINFOodom_qos_relay.py-5process started with pid [7627] + 5.18sINFOlidar_flattener.py-6process started with pid [7628] + 5.18sINFOstatic_transform_publisher-7process started with pid [7629] + 5.18sINFOstatic_transform_publisher-8process started with pid [7630] + 5.18sINFOscan_to_scan_filter_chain-9process started with pid [7631] + 5.18sINFOscan_to_scan_filter_chain-10process started with pid [7724] + 5.18sINFOros2-12process started with pid [7726] + 5.18sINFOros2-13process started with pid [7727] + 5.18sINFOros2-14process started with pid [7728] + 5.18sINFOros2-15process started with pid [7729] + 5.18sINFOros2-16process started with pid [7730] + 5.18sINFOros2-17process started with pid [7731] + 5.18sINFOros2-18process started with pid [7732] + 5.18sINFOros2-19process started with pid [7735] + 5.18sINFOros2-20process started with pid [7736] + 5.18sINFOros2-21process started with pid [7739] + 5.18sINFOros2-22process started with pid [7742] + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.22sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.22sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.22sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.22sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.22sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.25sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.25sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.25sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.25sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.25sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.25sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.25sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.25sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.25sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.25sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.25sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.25sWARNros2_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 ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717587 ms (missed cycles : 6).[0m + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.34sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.44sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.44sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.44sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.61sINFOvideo_server2026/09/18 17:51:21 INF MediaMTX v1.20.1, linux, amd64 + 5.61sINFOvideo_server2026/09/18 17:51:21 INF configuration loaded from /tmp/moveit-webrtc-7ml1vr0e/mediamtx.yml + 5.61sINFOvideo_server2026/09/18 17:51:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.61sINFOvideo_server2026/09/18 17:51:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.87sWARNscan_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 ×6 + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.96sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.97sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 6.11sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.27sINFOmove_groupLoaded robot model in 0.487113 seconds[0m + 6.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.28sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465231 ms (missed cycles : 4).[0m + 6.69sINFOwaypoint_manager_nodeLoaded robot model in 0.309379 seconds[0m + 6.69sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.69sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.70sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.05sINFOmove_group[2026-09-18 17:51:23.216] [moveit_pro_license] [info] + 7.05sINFOmove_group************************************************* ×6 + 7.05sINFOmove_group* MoveIt Pro License ×3 + 7.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.09sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.10sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.11sWARNwaypoint_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 ×3 + 7.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.19sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.22sINFOros2_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 ×3 + 7.22sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.39sINFOwaypoint_manager_node[2026-09-18 17:51:23.558] [moveit_pro_license] [info] + 7.39sINFOwaypoint_manager_node************************************************* ×6 + 7.39sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.49sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765576 ms (missed cycles : 2).[0m + 7.50sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.50sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.50sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.50sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.50sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.51sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.51sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.51sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.51sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.52sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.86sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.86sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.87sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.11sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 8.11sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 8.11sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 8.11sWARNros2_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: ×3 + 8.11sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 8.11sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 8.11sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 8.11sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 8.11sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 8.11sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 8.11sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 8.11sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 8.11sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.11sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 8.11sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.11sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 8.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 8.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 8.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 8.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 8.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 8.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 8.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.28sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.28sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.28sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.28sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.28sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.29sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.29sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.29sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.29sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.29sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.29sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.35sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.35sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.35sWARNros2_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 ×3 + 8.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 8.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 8.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 8.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 8.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 8.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 8.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 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 ×3 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.56sINFOobjective_server_node[2026-09-18 17:51:24.733] [moveit_pro_license] [info] + 8.56sINFOobjective_server_node************************************************* ×8 + 8.56sINFOobjective_server_node* MoveIt Pro License ×4 + 8.56sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.64sINFOobjective_server_nodeLoaded robot model in 0.0344489 seconds[0m + 8.64sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.64sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.65sWARNcomponent_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 ×3 + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037372 ms (missed cycles : 2).[0m + 8.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 8.79sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 8.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.84sINFOros2-14process has finished cleanly [pid 7728] + 8.88sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 8.89sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 8.90sINFOros2_control_nodeconfigure successful[0m ×9 + 9.05sINFOcomponent_container_mtLoaded robot model in 0.403747 seconds[0m + 9.05sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.05sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.10sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.10sWARNobjective_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 ×3 + 9.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.17sINFOobjective_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. ×3 + 9.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.20sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.20sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 9.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.28sINFOros2-17process has finished cleanly [pid 7731] + 9.33sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.34sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 9.39sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.39sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.39sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.39sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.39sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.40sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.43sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 9.43sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 9.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.48sWARNcomponent_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 ×3 + 9.48sWARNcomponent_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 ×3 + 9.48sWARNcomponent_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 ×3 + 9.48sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.49sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.50sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.51sWARNcomponent_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 ×3 + 9.53sINFOmove_group ×12 + 9.54sINFOmove_group******************************************************** ×6 + 9.54sINFOmove_group* MoveGroup using: ×3 + 9.54sINFOmove_group* - apply_planning_scene_service ×3 + 9.54sINFOmove_group* - clear_octomap_service ×3 + 9.54sINFOmove_group* - get_group_urdf ×3 + 9.54sINFOmove_group* - load_geometry_from_file ×3 + 9.54sINFOmove_group* - get_planning_scene_service ×3 + 9.54sINFOmove_group* - kinematics_service ×3 + 9.54sINFOmove_group* - save_geometry_to_file ×3 + 9.54sINFOmove_group* - GetPlanningGroups ×3 + 9.54sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.54sINFOmove_group[0m ×3 + 9.54sINFOmove_group[92mYou can start planning now![0m ×3 + 9.70sINFOcomponent_container_mt[2026-09-18 17:51:25.869] [moveit_pro_license] [info] + 9.70sINFOcomponent_container_mt************************************************* ×6 + 9.70sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846939 ms (missed cycles : 4).[0m + 9.87sINFOros2_control_node[2026-09-18 17:51:26.037] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.87sINFOros2_control_node[2026-09-18 17:51:26.040] [info] Controller state will be published at 10 Hz. + 9.87sINFOros2_control_node[2026-09-18 17:51:26.041] [info] VelocityForceController 'on_configure' succeeded. + 10.13sWARNros2_control_nodeCamera render tick took 0.96 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 10.15sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.15sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.17sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.17sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.20sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 10.20sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 10.20sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 10.22sINFOros2-19process has finished cleanly [pid 7735] + 10.26sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 10.27sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 10.34sWARNobjective_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/. ×3 + 10.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.62sINFOros2_control_node[2026-09-18 17:51:26.789] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.62sINFOros2_control_node[2026-09-18 17:51:26.790] [info] Controller state will be published at 10 Hz. + 10.62sINFOros2_control_node[2026-09-18 17:51:26.791] [info] VelocityForceController 'on_configure' succeeded. + 10.68sWARNros2_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 + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980171 ms (missed cycles : 3).[0m + 10.93sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.93sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 10.93sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 10.96sINFOros2-20process has finished cleanly [pid 7736] + 10.98sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 10.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 11.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 11.00sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 11.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 11.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 11.30sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 11.34sINFOros2-15process has finished cleanly [pid 7729] + 11.35sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.35sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.35sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.36sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 11.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 11.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 11.70sINFOros2-13process has finished cleanly [pid 7727] + 11.71sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.71sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 11.72sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 11.72sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894795 ms (missed cycles : 3).[0m + 12.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.05sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 12.08sINFOros2-12process has finished cleanly [pid 7726] + 12.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.15sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.50sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.50sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.51sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 12.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.55sINFOros2-18process has finished cleanly [pid 7732] + 12.56sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.56sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.57sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242344 ms (missed cycles : 4).[0m + 12.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.95sINFOros2-16process has finished cleanly [pid 7730] + 13.02sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 13.08sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 13.08sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.47sINFOros2_control_node[2026-09-18 17:51:29.642] [info] Controller state will be published at 20 Hz. + 13.47sINFOros2_control_node[2026-09-18 17:51:29.643] [info] JointVelocityController 'on_configure' succeeded. + 13.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 13.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lovqqy0s --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_qqs2dv8c --params-file /tmp/launch_params_bpny8pxr [0m + 13.82sINFOros2-22process has finished cleanly [pid 7742] + 13.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 13.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211074 ms (missed cycles : 2).[0m + 14.27sINFOros2_control_node[2026-09-18 17:51:30.435] [info] Controller state will be published at 20 Hz. + 14.27sINFOros2_control_node[2026-09-18 17:51:30.436] [info] JointVelocityController 'on_configure' succeeded. + 14.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 14.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 14.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 14.60sINFOros2-21process has finished cleanly [pid 7739] + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532536 ms (missed cycles : 3).[0m + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744826 ms (missed cycles : 4).[0m + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787431 ms (missed cycles : 2).[0m + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001845 ms (missed cycles : 2).[0m + 18.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061766 ms (missed cycles : 2).[0m + 19.48sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.48sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.48sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.48sINFOobjective_server_nodecaller: ×27 + 19.48sINFOobjective_server_nodetype: 0 ×27 + 19.48sINFOobjective_server_nodename: "" ×27 + 19.48sINFOobjective_server_nodeinstance_id: "" ×27 + 19.48sINFOobjective_server_node ×27 + 19.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753895.68929625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.52sINFOmove_groupClearing octomap...[0m ×7 + 19.52sINFOmove_groupOctomap cleared.[0m ×7 + 19.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753895.69954014 seconds + 20.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 20.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753896.30053186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753896.31065679 seconds + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795172 ms (missed cycles : 2).[0m + 20.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753896.88574839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753897.03672123 seconds + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395532 ms (missed cycles : 3).[0m + 21.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753897.63354397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 21.48sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 21.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753897.70368147 seconds + 22.07sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 22.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789753898.28535438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883643 ms (missed cycles : 3).[0m + 23.18sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868531 ms (missed cycles : 4).[0m + 23.47sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.47sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865613 ms (missed cycles : 2).[0m + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617220 ms (missed cycles : 2).[0m + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025230 ms (missed cycles : 2).[0m + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371876 ms (missed cycles : 3).[0m + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530277 ms (missed cycles : 2).[0m + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583281 ms (missed cycles : 3).[0m + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490883 ms (missed cycles : 2).[0m + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453443 ms (missed cycles : 3).[0m + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371497 ms (missed cycles : 3).[0m + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537429 ms (missed cycles : 3).[0m + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793444 ms (missed cycles : 4).[0m + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677391 ms (missed cycles : 3).[0m + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147931 ms (missed cycles : 5).[0m + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629596 ms (missed cycles : 2).[0m + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011744 ms (missed cycles : 2).[0m + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289651 ms (missed cycles : 4).[0m + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034965 ms (missed cycles : 2).[0m + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900165 ms (missed cycles : 2).[0m + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904947 ms (missed cycles : 2).[0m + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559915 ms (missed cycles : 2).[0m + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375100 ms (missed cycles : 3).[0m + 47.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759897 ms (missed cycles : 2).[0m + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243454 ms (missed cycles : 2).[0m + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001346 ms (missed cycles : 2).[0m + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103533 ms (missed cycles : 3).[0m + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115635 ms (missed cycles : 4).[0m + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907832 ms (missed cycles : 2).[0m + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214759 ms (missed cycles : 4).[0m + 54.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412371 ms (missed cycles : 3).[0m + 54.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096090 ms (missed cycles : 3).[0m + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291745 ms (missed cycles : 2).[0m + 58.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384566 ms (missed cycles : 3).[0m + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477650 ms (missed cycles : 3).[0m + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603395 ms (missed cycles : 2).[0m + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304735 ms (missed cycles : 2).[0m + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319841 ms (missed cycles : 3).[0m + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474493 ms (missed cycles : 2).[0m + 64.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381086 ms (missed cycles : 4).[0m + 65.04sINFOros2_control_nodeGoal reached, success![0m ×3 + 65.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789753941.25185871 seconds + 65.09sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 65.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 65.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 65.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789753941.83435154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495819 ms (missed cycles : 4).[0m + 66.73sINFOobjective_server_nodeFound path in 0 iterations (2.4818e-05 s). + 66.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611577 ms (missed cycles : 3).[0m + 66.81sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875267 ms (missed cycles : 4).[0m + 69.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454862 ms (missed cycles : 3).[0m + 70.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709514 ms (missed cycles : 2).[0m + 71.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789753947.35448337 seconds + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931463 ms (missed cycles : 3).[0m + 71.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789753947.94428658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499622 ms (missed cycles : 3).[0m + 72.51sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 72.51sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789753948.68447161 seconds + 73.15sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 73.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789753949.35809398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832730 ms (missed cycles : 2).[0m + 73.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789753950.06825757 seconds + 74.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879638 ms (missed cycles : 2).[0m + 74.47sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789753950.67872143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789753951.44887805 seconds + 75.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751639 ms (missed cycles : 3).[0m + 75.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789753952.06034255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853463 ms (missed cycles : 2).[0m + 76.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789753952.77050424 seconds + 77.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 77.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789753953.38232589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.917398 ms (missed cycles : 5).[0m + 77.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789753954.10250926 seconds + 78.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848966 ms (missed cycles : 2).[0m + 79.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251942 ms (missed cycles : 2).[0m + 80.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820350 ms (missed cycles : 3).[0m + 81.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881297 ms (missed cycles : 3).[0m + 82.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592065 ms (missed cycles : 4).[0m + 83.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312326 ms (missed cycles : 2).[0m + 84.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889858 ms (missed cycles : 3).[0m + 85.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778951 ms (missed cycles : 3).[0m + 86.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m + 86.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123733 ms (missed cycles : 2).[0m + 87.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747591 ms (missed cycles : 2).[0m + 88.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 88.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789753964.44714427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789753965.17733359 seconds + 89.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483564 ms (missed cycles : 2).[0m + 89.57sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789753965.77993131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750677 ms (missed cycles : 2).[0m + 91.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434706 ms (missed cycles : 3).[0m + 92.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934368 ms (missed cycles : 4).[0m + 93.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274718 ms (missed cycles : 2).[0m + 94.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417898 ms (missed cycles : 2).[0m + 95.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789753971.61007953 seconds + 95.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634925 ms (missed cycles : 4).[0m + 95.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 96.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789753972.19645476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789753972.93663216 seconds + 96.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380618 ms (missed cycles : 3).[0m + 97.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 97.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789753973.56617546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625862 ms (missed cycles : 3).[0m + 98.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789753974.33696842 seconds + 98.35sWARNros2_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 + 98.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753974.94026732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669515 ms (missed cycles : 3).[0m + 99.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795150 ms (missed cycles : 5).[0m +100.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835585 ms (missed cycles : 4).[0m +101.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753977.32039642 seconds +101.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789753977.89412928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +102.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922368 ms (missed cycles : 2).[0m +102.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789753978.71425009 seconds +102.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473302 ms (missed cycles : 3).[0m +104.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878798 ms (missed cycles : 2).[0m +105.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776936 ms (missed cycles : 2).[0m +106.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054561 ms (missed cycles : 2).[0m +107.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256822 ms (missed cycles : 4).[0m +108.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253408 ms (missed cycles : 2).[0m +108.61sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.62sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.63sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.64sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.64sERRORweb_video_auth_proxy-37process has died [pid 7831, 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']. +108.64sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.65sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.65sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.65sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORweb_bridge_auth_proxy-36process has died [pid 7828, 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']. +108.66sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.66sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.67sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.67sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.68sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.69sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.70sINFOvideo_server-35process has finished cleanly [pid 7827] +108.70sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.71sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.72sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.73sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.74sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.75sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.77sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.78sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.79sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.80sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.81sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.83sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.83sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.84sERRORmove_group-23process has died [pid 7743, 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_456jivrv --params-file /tmp/launch_params_5quk0pby --params-file /tmp/launch_params_yy3x1d2b --params-file /tmp/launch_params_38xtft0p --params-file /tmp/launch_params_023wjvo7 --params-file /tmp/launch_params_jbslj4f2']. +108.84sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.85sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.85sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.86sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.87sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.88sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.89sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.90sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.90sINFOvideo_server2026/09/18 17:53:04 INF shutting down gracefully +108.90sINFOvideo_server2026/09/18 17:53:04 INF [WebRTC] closing +108.90sINFOvideo_server2026/09/18 17:53:04 INF [RTSP] closing +108.90sINFOvideo_server2026/09/18 17:53:04 INF waiting for running hooks +108.90sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.90sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOcomponent_container_mtStopping planning scene monitor[0m +108.90sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.90sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.90sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.90sERRORmove_groupStack trace (most recent call last) in thread 8392: +108.90sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.90sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f0eea9a63, in __clone +108.90sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f0ee1caa3, in +108.90sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f0f0aedb3, in +108.90sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6f0f812b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.90sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f0f440620, in rclcpp::Rate::sleep() +108.90sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f0f382d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.90sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f0f344087, in +108.90sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f0f07d390, in __cxa_throw +108.90sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f0f067a54, in std::terminate() +108.90sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f0f07d0d9, in +108.90sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f0f067ff4, in +108.90sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f0eda88fe, in abort +108.90sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f0edc527d, in raise +108.90sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f0ee1eb2c, in pthread_kill +108.90sERRORmove_groupAborted (Signal sent by tkill() 7743 0) +108.90sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.90sINFOros2_control_nodeShutdown request received....[0m +108.90sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.90sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.90sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.90sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.90sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.90sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.90sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.90sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.90sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.90sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.90sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.90sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.90sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.90sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.90sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.90sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.90sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.90sINFOros2_control_nodeShutting down the controller manager.[0m +108.90sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +108.90sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.91sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.91sERRORodom_qos_relay.pyTraceback (most recent call last): +108.91sINFOodom_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> +108.91sINFOodom_qos_relay.pymain() +108.91sINFOodom_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 +108.91sINFOodom_qos_relay.pyrclpy.spin(node) +108.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.91sINFOodom_qos_relay.pyexecutor.spin_once() +108.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.91sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.91sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.91sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks +108.91sINFOodom_qos_relay.pywait_set = _rclpy.WaitSet( +108.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^ +108.91sINFOodom_qos_relay.pyrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 +109.02sINFOros2_control_nodeAsync messages lost 0[0m ×2 +109.02sINFOros2_control_nodepublish_async_failures_ 1[0m +109.02sINFOros2_control_nodepublish_async_failures_ 2[0m +109.74sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7826] +109.74sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.80sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7780] +109.82sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7779] +109.82sINFOui_teleop_bridge-32process has finished cleanly [pid 7824] +109.84sINFOexecute_objective_bridge-31process has finished cleanly [pid 7821] +109.85sINFOparameter_manager_node-24process has finished cleanly [pid 7744] +109.87sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7724] +109.87sINFOwaypoint_manager_node-25process has finished cleanly [pid 7778] +109.88sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7631] +109.88sINFOstatic_transform_publisher-8process has finished cleanly [pid 7630] +109.89sINFOcomponent_container_mt-30process has finished cleanly [pid 7807] +109.89sINFOstatic_transform_publisher-7process has finished cleanly [pid 7629] +109.90sERRORlidar_flattener.pyTraceback (most recent call last): +109.90sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.90sINFOlidar_flattener.pymain() +109.90sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.90sINFOlidar_flattener.pyrclpy.spin(node) +109.90sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.90sINFOlidar_flattener.pyexecutor.spin_once() +109.90sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.90sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.90sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.90sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.90sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.90sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.90sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.90sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.90sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.90sINFOlidar_flattener.pyraise ExternalShutdownException() +109.90sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.92sINFOstatic_transform_publisher-4process has finished cleanly [pid 7626] +109.93sINFOstatic_transform_publisher-3process has finished cleanly [pid 7625] +109.95sERRORlidar_flattener.py-6process has died [pid 7628, 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_9c2_oj0l']. +109.96sERRORodom_qos_relay.py-5process has died [pid 7627, 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']. +109.99sINFOobjective_server_node[2026-09-18 17:53:06.163] [moveit_pro_license] [info] +109.99sINFOobjective_server_node* Application has successfully terminated +110.01sERRORcomponent_container_isolated-1process has died [pid 7623, 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_i_ijw2p8 --params-file /tmp/launch_params_911e1ybh -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.05sINFOobjective_server_node_main-28process has finished cleanly [pid 7782] +110.05sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +110.24sERRORcomponent_container_isolated-2process has died [pid 7624, 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_i_ijw2p8 --params-file /tmp/launch_params_say19319 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.94sINFOcomponent_container_mt-29process has finished cleanly [pid 7802] +111.54sINFOros2_control_node-11process has finished cleanly [pid 7725] +111.69sINFOweb_bridge-33process has finished cleanly [pid 7825] +111.69sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +117.36sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-17-53-11-863301-0e44eafef19a-8688 ×2 +122.18sINFOstatic_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' +122.18sINFOstatic_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' +122.19sINFOstatic_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' +122.19sINFOstatic_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' +122.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +122.39sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +122.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.42sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +122.46sINFOros2_control_node-11process started with pid [8840] ×2 +122.46sINFOmove_group-23process started with pid [8858] ×2 +122.46sINFOparameter_manager_node-24process started with pid [8859] ×2 +122.46sINFOwaypoint_manager_node-25process started with pid [8893] ×2 +122.46sINFOmove_joint_resampler_node-26process started with pid [8894] ×2 +122.46sINFOmove_end_effector_resampler_node-27process started with pid [8895] ×2 +122.46sINFOobjective_server_node_main-28process started with pid [8896] ×2 +122.46sINFOcomponent_container_mt-29process started with pid [8897] ×2 +122.46sINFOcomponent_container_mt-30process started with pid [8898] ×2 +122.46sINFOexecute_objective_bridge-31process started with pid [8899] ×2 +122.46sINFOui_teleop_bridge-32process started with pid [8900] ×2 +122.46sINFOweb_bridge-33process started with pid [8901] ×2 +122.46sINFOtf2_web_republisher_node-34process started with pid [8902] ×2 +122.46sINFOvideo_server-35process started with pid [8903] ×2 +122.46sINFOweb_bridge_auth_proxy-36process started with pid [8904] ×2 +122.46sINFOweb_video_auth_proxy-37process started with pid [8907] ×2 +122.46sINFOcomponent_container_isolated-1process started with pid [8738] ×2 +122.46sINFOcomponent_container_isolated-2process started with pid [8739] ×2 +122.46sINFOstatic_transform_publisher-3process started with pid [8740] ×2 +122.46sINFOstatic_transform_publisher-4process started with pid [8741] ×2 +122.46sINFOodom_qos_relay.py-5process started with pid [8742] ×2 +122.46sINFOlidar_flattener.py-6process started with pid [8743] ×2 +122.46sINFOstatic_transform_publisher-7process started with pid [8744] ×2 +122.46sINFOstatic_transform_publisher-8process started with pid [8745] ×2 +122.46sINFOscan_to_scan_filter_chain-9process started with pid [8746] ×2 +122.46sINFOscan_to_scan_filter_chain-10process started with pid [8839] ×2 +122.46sINFOros2-12process started with pid [8841] ×2 +122.46sINFOros2-13process started with pid [8842] ×2 +122.46sINFOros2-14process started with pid [8843] ×2 +122.46sINFOros2-15process started with pid [8844] ×2 +122.46sINFOros2-16process started with pid [8845] ×2 +122.46sINFOros2-17process started with pid [8846] ×2 +122.46sINFOros2-18process started with pid [8847] ×2 +122.46sINFOros2-19process started with pid [8848] ×2 +122.46sINFOros2-20process started with pid [8849] ×2 +122.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.48sINFOros2-21process started with pid [8854] ×2 +122.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.49sINFOros2-22process started with pid [8855] ×2 +122.49sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +122.52sINFOcontroller_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. +122.53sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +122.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +122.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +122.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +122.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +122.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +122.60sINFOcontroller_managerupdate rate is 600 Hz +122.60sINFOcontroller_managerOverruns handling is : enabled +122.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +122.60sWARNcontroller_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. +122.61sINFOmap_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. +122.61sINFOmap_serverCreating +122.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +122.64sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +122.64sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +122.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.65sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.66sINFOcontroller_serverCreating controller server +122.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461571 ms (missed cycles : 4). +122.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461571 ms (missed cycles : 4).[0m ×2 +122.71sINFOlocal_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. +122.71sINFOlocal_costmap.local_costmapCreating Costmap +122.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +122.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.74sINFOrobot_state_publisherRobot initialized +122.74sINFOcontroller_managerReceived robot description from topic. +122.74sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +122.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.77sINFOlifecycle_manager_localizationCreating +122.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +122.78sINFOsmoother_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. +122.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +122.81sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.82sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +122.82sINFOsmoother_serverCreating smoother server +122.82sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +122.82sINFOmap_serverConfiguring +122.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +122.84sINFOvideo_server2026/09/18 17:53:19 INF MediaMTX v1.20.1, linux, amd64 ×2 +122.84sINFOvideo_server2026/09/18 17:53:19 INF configuration loaded from /tmp/moveit-webrtc-0py91x3o/mediamtx.yml ×2 +122.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.84sINFOvideo_server2026/09/18 17:53:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +122.84sINFOvideo_server2026/09/18 17:53:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +122.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +122.89sINFOplanner_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. +122.94sINFOplanner_serverCreating +122.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +122.97sINFOamclConfiguring +122.98sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +122.98sINFOmap_serverActivating +122.98sINFOmap_serverCreating bond (map_server) to lifecycle manager. +123.00sINFOglobal_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. +123.00sINFOglobal_costmap.global_costmapCreating Costmap +123.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +123.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.07sINFObehavior_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. +123.10sINFOlifecycle_manager_localizationServer map_server connected with bond. +123.10sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +123.10sINFOamclActivating +123.10sINFOamclSubscribed to initial_pose_topic: /initialpose +123.10sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +123.11sINFOamclSubscribed to map_topic: /map +123.11sINFOamclSubscribed to scan_topic: /scan_merged +123.11sINFOamclCreated reinitialize_global_localization service +123.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +123.12sINFOamclCreated request_nomotion_update service +123.13sINFOamclA new map was received +123.13sINFOamclInitializing particle filter instance +123.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +123.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +123.16sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.459298 seconds +123.16sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +123.16sINFOmove_groupLoaded robot model in 0.459298 seconds[0m ×2 +123.16sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +123.16sINFObt_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. +123.18sINFObt_navigatorCreating +123.18sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +123.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +123.19sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +123.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +123.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +123.22sWARNlaser_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. +123.25sINFOwaypoint_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. +123.25sINFOwaypoint_followerCreating +123.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +123.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +123.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +123.31sINFOvelocity_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. +123.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +123.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.34sWARNlaser_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. +123.39sINFOlifecycle_manager_navigationCreating +123.42sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +123.43sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +123.45sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +123.45sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +123.46sINFOcontroller_serverConfiguring controller interface +123.46sINFOcontroller_servergetting progress checker plugins.. +123.46sINFOcontroller_servergetting goal checker plugins.. +123.46sINFOcontroller_serverController frequency set to 20.0000Hz +123.46sINFOlocal_costmap.local_costmapConfiguring +123.48sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +123.49sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +123.51sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +123.51sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +123.52sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +123.56sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +123.56sINFOcontroller_serverController Server has progress_checker progress checkers available. +123.56sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +123.57sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +123.58sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +123.60sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +123.61sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +123.61sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +123.62sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +123.62sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +123.62sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +123.62sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +123.63sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +123.63sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +123.64sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +123.64sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +123.64sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +123.65sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +123.65sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +123.65sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +123.65sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +123.66sINFOcontroller_serverOptimizer reset ×2 +123.67sINFOcontroller_serverController Server has FollowPath controllers available. +123.69sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +123.69sINFOsmoother_serverConfiguring smoother server +123.72sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +123.74sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.77sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.77sINFOplanner_serverConfiguring +123.77sINFOglobal_costmap.global_costmapConfiguring +123.78sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.78sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.78sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.78sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.78sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +123.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +123.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +123.82sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +123.84sINFOamclParticle filter initialization completed +123.84sINFOamclInitializing particles from estimated pose and covariance +123.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +123.88sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +123.88sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +123.88sINFOplanner_serverPlanner Server has GridBased planners available. +123.89sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +123.91sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.91sINFOlifecycle_manager_localizationServer amcl connected with bond. +123.91sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +123.91sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +123.91sINFObehavior_serverConfiguring +123.92sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.92sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.92sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.93sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.94sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.94sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.94sWARNmove_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. +123.94sWARNmove_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. +123.94sINFOamclThe bond connection to the lifecycle manager is now fully formed +123.95sINFObehavior_serverConfiguring spin +123.95sWARNmove_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. +123.95sWARNmove_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. +123.96sWARNmove_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. +123.96sWARNmove_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. +123.96sWARNmove_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. +123.96sWARNmove_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. +123.97sWARNmove_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. +123.97sWARNmove_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. +124.00sINFObehavior_serverConfiguring backup +124.00sINFObehavior_serverConfiguring drive_on_heading +124.01sINFObehavior_serverConfiguring assisted_teleop +124.04sINFObehavior_serverConfiguring wait +124.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703117 ms (missed cycles : 2). +124.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703117 ms (missed cycles : 2).[0m ×2 +124.04sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +124.04sINFObt_navigatorConfiguring +124.05sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +124.06sWARNbt_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 +124.24sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +124.28sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +124.28sINFOwaypoint_followerConfiguring +124.30sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +124.30sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +124.30sINFOvelocity_smootherConfiguring velocity smoother +124.31sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +124.31sINFOcontroller_serverActivating +124.31sINFOlocal_costmap.local_costmapActivating +124.31sINFOlocal_costmap.local_costmapChecking transform +124.31sINFOlocal_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. ×15 +124.39sINFOwaypoint_manager_nodeLoaded robot model in 0.392142 seconds[0m ×2 +124.40sINFOmove_group[2026-09-18 17:53:20.573] [moveit_pro_license] [info] ×2 +124.57sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +124.57sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +124.75sWARNwaypoint_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. +124.75sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.75sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.75sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.76sWARNwaypoint_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. +124.77sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.77sWARNwaypoint_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. +124.77sWARNwaypoint_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. +124.77sWARNwaypoint_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. +124.78sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.78sWARNwaypoint_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. +124.78sWARNwaypoint_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. +124.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.79sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.83sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.83sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.83sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.83sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.83sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.84sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.84sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.85sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +125.10sINFOwaypoint_manager_node[2026-09-18 17:53:21.270] [moveit_pro_license] [info] ×2 +125.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +125.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. +125.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +125.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709706 ms (missed cycles : 2). +125.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709706 ms (missed cycles : 2).[0m ×2 +125.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +125.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.67sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.68sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +125.68sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +125.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +125.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +125.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +125.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +125.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +125.71sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +125.71sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +125.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +125.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +125.78sINFOforce_torque_sensor_broadcasterconfigure successful +125.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +125.78sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +125.79sINFOobjective_server_node[2026-09-18 17:53:21.962] [moveit_pro_license] [info] ×2 +125.86sINFOobjective_server_nodeLoaded robot model in 0.0258331 seconds[0m ×2 +125.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.91sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.92sINFOstreaming_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) +125.93sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +126.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +126.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +126.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +126.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +126.13sINFOcomponent_container_mtLoaded robot model in 0.391063 seconds[0m ×2 +126.13sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +126.13sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +126.13sINFOros2-12process has finished cleanly [pid 8841] ×2 +126.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +126.14sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +126.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.15sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.36sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +126.36sWARNobjective_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. +126.36sWARNobjective_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. +126.36sWARNobjective_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. +126.36sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' +126.61sINFOros2-13process has finished cleanly [pid 8842] ×2 +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.63sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.64sWARNplanning_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. +126.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +126.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +126.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868417 ms (missed cycles : 3). +126.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868417 ms (missed cycles : 3).[0m ×2 +126.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +126.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +126.88sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +126.92sINFOcomponent_container_mt[2026-09-18 17:53:23.094] [moveit_pro_license] [info] ×2 +126.93sINFOmove_groupMoveGroup debug mode is ON +127.10sINFOmove_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
********************************************************
+127.19sINFOros2_control_node[2026-09-18 17:53:23.363] [info] Controller state will be published at 20 Hz. ×2 +127.19sINFOros2_control_node[2026-09-18 17:53:23.364] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.26sWARNros2_control_nodeCamera render tick took 0.75 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +127.29sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +127.29sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +127.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +127.50sINFOcontroller_managerLoading controller 'platform_velocity_controller' +127.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +127.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +127.53sINFOros2-21process has finished cleanly [pid 8854] ×2 +127.56sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +127.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +127.57sINFOplatform_velocity_controllerconfigure successful +127.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +127.57sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +127.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697189 ms (missed cycles : 3). +127.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697189 ms (missed cycles : 3).[0m ×2 +127.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 +127.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +127.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +127.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +127.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +127.93sINFOros2-15process has finished cleanly [pid 8844] ×2 +128.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +128.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +128.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +128.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +128.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +128.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +128.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +128.27sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +128.27sINFOcontroller_managerLoading controller 'velocity_force_controller' +128.31sINFOros2-18process has finished cleanly [pid 8847] ×2 +128.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789754002.682 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +128.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +128.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +128.43sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +128.43sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.86sINFOros2_control_node[2026-09-18 17:53:25.032] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.86sINFOros2_control_node[2026-09-18 17:53:25.035] [info] Controller state will be published at 10 Hz. ×2 +128.87sINFOros2_control_node[2026-09-18 17:53:25.036] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365812 ms (missed cycles : 3). +128.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365812 ms (missed cycles : 3).[0m ×2 +129.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +129.18sINFOcontroller_managerLoading controller 'vacuum_gripper' +129.18sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +129.18sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +129.20sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +129.21sINFOros2-19process has finished cleanly [pid 8848] ×2 +129.23sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +129.23sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +129.23sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +129.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +129.24sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +129.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +129.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +129.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +129.58sINFOros2-16process has finished cleanly [pid 8845] ×2 +129.59sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +129.61sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +129.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369191 ms (missed cycles : 3). +129.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369191 ms (missed cycles : 3).[0m ×2 +129.97sINFOros2_control_node[2026-09-18 17:53:26.139] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.97sINFOros2_control_node[2026-09-18 17:53:26.141] [info] Controller state will be published at 10 Hz. ×2 +129.97sINFOros2_control_node[2026-09-18 17:53:26.142] [info] VelocityForceController 'on_configure' succeeded. ×2 +130.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +130.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +130.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +130.28sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +130.32sINFOros2-20process has finished cleanly [pid 8849] ×2 +130.34sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +130.34sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +130.69sINFOros2_control_node[2026-09-18 17:53:26.855] [info] Controller state will be published at 20 Hz. ×2 +130.69sINFOros2_control_node[2026-09-18 17:53:26.856] [info] JointVelocityController 'on_configure' succeeded. ×2 +130.85sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789754005.535 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790541 ms (missed cycles : 3). +130.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790541 ms (missed cycles : 3).[0m ×2 +131.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +131.01sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +131.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +131.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +131.03sINFOros2-22process has finished cleanly [pid 8855] ×2 +131.07sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +131.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +131.08sINFOplatform_velocity_controller_nav2configure successful +131.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +131.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +131.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po +131.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mq3dq_t --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_o4_2gqv6 --params-file /tmp/launch_params_mk3n76po [0m ×2 +131.44sINFOros2-17process has finished cleanly [pid 8846] ×2 +131.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +131.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +131.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +131.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +131.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +131.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +131.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +131.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +131.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +131.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +131.81sINFOlocal_costmap.local_costmapstart +131.82sINFOros2-14process has finished cleanly [pid 8843] ×2 +131.91sWARNcontroller_serverParameter controller_server.verbose not found +131.91sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +132.02sINFOlifecycle_manager_navigationServer controller_server connected with bond. +132.02sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +132.02sINFOsmoother_serverActivating +132.02sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +132.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292444 ms (missed cycles : 4). +132.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292444 ms (missed cycles : 4).[0m ×2 +132.12sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +132.12sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +132.12sINFOplanner_serverActivating +132.12sINFOglobal_costmap.global_costmapActivating +132.12sINFOglobal_costmap.global_costmapChecking transform +132.12sINFOglobal_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. +132.27sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 5.615ms +132.62sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789754008.763772, but only time 1789754008.964065 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +133.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073317 ms (missed cycles : 2). +133.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073317 ms (missed cycles : 2).[0m ×2 +133.12sINFOglobal_costmap.global_costmapstart +133.48sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789754008.895 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +134.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). +134.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 +134.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +134.18sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +134.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. +134.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +134.28sINFObehavior_serverActivating +134.28sINFObehavior_serverActivating spin +134.28sINFObehavior_serverActivating backup +134.28sINFObehavior_serverActivating drive_on_heading +134.28sINFObehavior_serverActivating assisted_teleop +134.28sINFObehavior_serverActivating wait +134.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +134.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +134.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +134.38sINFObt_navigatorActivating +134.44sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +134.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +134.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +134.55sINFOwaypoint_followerActivating +134.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +134.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +134.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +134.65sINFOvelocity_smootherActivating +134.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +134.75sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +134.75sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +134.75sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +135.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). +135.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 +136.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). +136.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 +136.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +136.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +136.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +136.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 +137.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). +137.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 +137.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 +138.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 +138.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). +138.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 +138.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +138.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +138.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +138.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 +139.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). +139.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 +139.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +139.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +139.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 332 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. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 1.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_nodecaller: ×10 + 2.30sINFOobjective_server_nodetype: 0 ×10 + 2.30sINFOobjective_server_nodename: "" ×10 + 2.30sINFOobjective_server_nodeinstance_id: "" ×10 + 2.30sINFOobjective_server_node ×10 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 348 info |
+ 0.00sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789754008.895 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.69sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.70sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.80sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.80sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.80sINFObehavior_serverActivating + 0.80sINFObehavior_serverActivating spin + 0.80sINFObehavior_serverActivating backup + 0.80sINFObehavior_serverActivating drive_on_heading + 0.80sINFObehavior_serverActivating assisted_teleop + 0.80sINFObehavior_serverActivating wait + 0.80sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.90sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.90sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.90sINFObt_navigatorActivating + 0.96sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.07sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.07sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.07sINFOwaypoint_followerActivating + 1.07sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.17sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.17sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.17sINFOvelocity_smootherActivating + 1.17sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.27sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.37sINFOobjective_server_nodecaller: ×10 + 3.37sINFOobjective_server_nodetype: 0 ×10 + 3.37sINFOobjective_server_nodename: "" ×10 + 3.37sINFOobjective_server_nodeinstance_id: "" ×10 + 3.37sINFOobjective_server_node ×10 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.41sINFOmove_groupClearing octomap...[0m ×4 + 3.41sINFOmove_groupOctomap cleared.[0m ×4 + 3.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 7.39sINFOjoint_trajectory_controllerReceived new action goal + 7.39sINFOjoint_trajectory_controllerAccepted new action goal + 7.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.40sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 339 info |
+ 0.00sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789754008.895 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.69sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.70sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.80sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.80sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.80sINFObehavior_serverActivating + 0.80sINFObehavior_serverActivating spin + 0.80sINFObehavior_serverActivating backup + 0.80sINFObehavior_serverActivating drive_on_heading + 0.80sINFObehavior_serverActivating assisted_teleop + 0.80sINFObehavior_serverActivating wait + 0.80sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.90sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.90sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.90sINFObt_navigatorActivating + 0.96sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.07sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.07sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.07sINFOwaypoint_followerActivating + 1.07sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.17sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.17sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.17sINFOvelocity_smootherActivating + 1.17sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.27sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.37sINFOobjective_server_nodecaller: ×10 + 3.37sINFOobjective_server_nodetype: 0 ×10 + 3.37sINFOobjective_server_nodename: "" ×10 + 3.37sINFOobjective_server_nodeinstance_id: "" ×10 + 3.37sINFOobjective_server_node ×10 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.41sINFOmove_groupClearing octomap...[0m ×4 + 3.41sINFOmove_groupOctomap cleared.[0m ×4 + 3.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003092 ms (missed cycles : 3).[0m ×2 + 0.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.14sINFObehavior_serverActivating + 0.14sINFObehavior_serverActivating spin + 0.14sINFObehavior_serverActivating backup + 0.14sINFObehavior_serverActivating drive_on_heading + 0.14sINFObehavior_serverActivating assisted_teleop + 0.14sINFObehavior_serverActivating wait + 0.14sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.25sINFObt_navigatorActivating + 0.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.41sINFOwaypoint_followerActivating + 0.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.51sINFOvelocity_smootherActivating + 0.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.71sINFOobjective_server_nodecaller: ×10 + 2.71sINFOobjective_server_nodetype: 0 ×10 + 2.71sINFOobjective_server_nodename: "" ×10 + 2.71sINFOobjective_server_nodeinstance_id: "" ×10 + 2.71sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 332 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. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835108 ms (missed cycles : 2).[0m ×2 + 1.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 1.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_nodecaller: ×10 + 2.30sINFOobjective_server_nodetype: 0 ×10 + 2.30sINFOobjective_server_nodename: "" ×10 + 2.30sINFOobjective_server_nodeinstance_id: "" ×10 + 2.30sINFOobjective_server_node ×10 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.34sINFOmove_groupClearing octomap...[0m ×4 + 2.34sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134025 ms (missed cycles : 4).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789754013.05815673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.34sINFOmove_groupClearing octomap...[0m ×4 + 1.34sINFOmove_groupOctomap cleared.[0m ×4 + 1.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789754013.06834412 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895486 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789754013.64459848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789754013.65470839 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789754014.24432230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789754014.39492989 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613763 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789754015.00345469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789754015.06357265 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320120 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789754015.64016604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249614 ms (missed cycles : 2).[0m ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555771 ms (missed cycles : 4).[0m ×2 | ||||