MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.9s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	24.3s	12 errors · 309 warnings · 1424 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-21-15-10-01-434697-e8ddf4dc0e53-9403 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.62sINFOstatic_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' + 8.62sINFOstatic_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' + 8.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.73sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.73sINFOcontroller_managerupdate rate is 600 Hz + 8.73sINFOcontroller_managerOverruns handling is : enabled + 8.73sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.73sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126769 ms (missed cycles : 2). + 8.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 8.94sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.94sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.96sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 8.96sINFOcontroller_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. + 8.98sINFOros2_control_node-9process started with pid [9461] ×2 + 8.98sINFOmove_group-21process started with pid [9550] ×2 + 8.98sINFOparameter_manager_node-22process started with pid [9551] ×2 + 8.98sINFOwaypoint_manager_node-23process started with pid [9552] ×2 + 8.98sINFOmove_joint_resampler_node-24process started with pid [9588] ×2 + 8.98sINFOmove_end_effector_resampler_node-25process started with pid [9589] ×2 + 8.98sINFOobjective_server_node_main-26process started with pid [9590] ×2 + 8.98sINFOcomponent_container_mt-27process started with pid [9591] ×2 + 8.98sINFOcomponent_container_mt-28process started with pid [9592] ×2 + 8.98sINFOexecute_objective_bridge-29process started with pid [9608] ×2 + 8.98sINFOui_teleop_bridge-30process started with pid [9609] ×2 + 8.98sINFOweb_bridge-31process started with pid [9610] ×2 + 8.98sINFOtf2_web_republisher_node-32process started with pid [9611] ×2 + 8.98sINFOvideo_server-33process started with pid [9612] ×2 + 8.98sINFOweb_bridge_auth_proxy-34process started with pid [9613] ×2 + 8.98sINFOweb_video_auth_proxy-35process started with pid [9615] ×2 + 9.03sINFOcomponent_container_isolated-1process started with pid [9453] ×2 + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 9.03sINFOcomponent_container_isolated-2process started with pid [9454] ×2 + 9.03sINFOstatic_transform_publisher-3process started with pid [9455] ×2 + 9.03sINFOstatic_transform_publisher-4process started with pid [9456] ×2 + 9.03sINFOodom_qos_relay.py-5process started with pid [9457] ×2 + 9.03sINFOforward_stereo_publisher.py-6process started with pid [9458] ×2 + 9.03sINFOscan_to_scan_filter_chain-7process started with pid [9459] ×2 + 9.03sINFOscan_to_scan_filter_chain-8process started with pid [9460] ×2 + 9.03sINFOros2-10process started with pid [9539] ×2 + 9.03sINFOros2-11process started with pid [9540] ×2 + 9.03sINFOros2-12process started with pid [9541] ×2 + 9.03sINFOros2-13process started with pid [9542] ×2 + 9.03sINFOros2-14process started with pid [9543] ×2 + 9.03sINFOros2-15process started with pid [9544] ×2 + 9.03sINFOros2-16process started with pid [9545] ×2 + 9.03sINFOros2-17process started with pid [9546] ×2 + 9.03sINFOros2-18process started with pid [9547] ×2 + 9.03sINFOros2-19process started with pid [9548] ×2 + 9.03sINFOros2-20process started with pid [9549] ×2 + 9.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 9.14sINFOcontroller_serverCreating controller server + 9.17sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 9.17sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.17sINFOlocal_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. + 9.17sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 9.17sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 9.17sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 9.17sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 9.17sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 9.18sINFOlocal_costmap.local_costmapCreating Costmap + 9.18sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 9.19sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 9.19sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 9.19sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 9.19sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 9.19sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 9.19sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 9.19sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126769 ms (missed cycles : 2).[0m ×2 + 9.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 9.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 9.19sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 9.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.20sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 9.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.24sINFOmap_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. + 9.24sINFOmap_serverCreating + 9.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 9.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 9.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.26sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 9.28sINFOsmoother_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. + 9.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.31sINFOrobot_state_publisherRobot initialized + 9.31sINFOcontroller_managerReceived robot description from topic. + 9.31sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.31sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.32sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.32sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.34sINFOsmoother_serverCreating smoother server + 9.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.35sINFOlifecycle_manager_localizationCreating + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.36sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.36sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.38sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 9.39sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.39sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.39sINFOmap_serverConfiguring + 9.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.39sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.39sINFOplanner_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. + 9.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 9.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.44sINFOplanner_serverCreating + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.47sINFOglobal_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. + 9.48sINFOglobal_costmap.global_costmapCreating Costmap + 9.48sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.48sINFOamclConfiguring + 9.49sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.49sINFOmap_serverActivating + 9.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.49sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.54sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.403642 seconds + 9.54sINFObehavior_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. + 9.54sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.54sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.54sINFOmove_groupLoaded robot model in 0.403642 seconds[0m ×2 + 9.54sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.54sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.61sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.61sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.61sINFOamclActivating + 9.61sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.61sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.62sINFOamclSubscribed to map_topic: /map + 9.63sWARNlaser_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. + 9.63sWARNlaser_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. + 9.63sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 9.63sINFOamclSubscribed to scan_topic: /scan_merged + 9.63sINFOamclCreated reinitialize_global_localization service + 9.63sINFOamclCreated request_nomotion_update service + 9.64sINFOamclA new map was received + 9.64sINFOamclInitializing particle filter instance + 9.65sINFObt_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. + 9.69sINFObt_navigatorCreating + 9.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.74sINFOwaypoint_manager_nodeLoaded robot model in 0.326371 seconds[0m ×2 + 9.75sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 9.75sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121452 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121452 ms (missed cycles : 2).[0m ×2 + 9.81sINFOwaypoint_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. + 9.81sINFOwaypoint_followerCreating + 9.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.86sINFOvideo_server2026/08/21 15:10:13 INF MediaMTX v1.19.3, linux, amd64 ×2 + 9.86sINFOvelocity_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. + 9.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.87sINFOvideo_server2026/08/21 15:10:13 INF configuration loaded from /tmp/moveit-webrtc-32oq1af3/mediamtx.yml ×2 + 9.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.87sINFOvideo_server2026/08/21 15:10:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 9.87sINFOvideo_server2026/08/21 15:10:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 9.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.89sWARNmove_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. + 9.89sWARNmove_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. + 9.89sWARNmove_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. + 9.89sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNmove_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. + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_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. + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_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. + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_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. + 9.90sWARNmove_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. + 9.90sWARNmove_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. + 9.90sWARNmove_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. + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.92sINFOlifecycle_manager_navigationCreating + 9.93sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.96sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.96sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.96sINFOcontroller_serverConfiguring controller interface + 9.96sINFOcontroller_servergetting progress checker plugins.. + 9.96sINFOcontroller_servergetting goal checker plugins.. + 9.96sINFOcontroller_serverController frequency set to 20.0000Hz + 9.96sINFOlocal_costmap.local_costmapConfiguring + 9.97sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 10.00sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 10.03sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 10.03sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 10.04sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 10.07sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 10.07sINFOamclParticle filter initialization completed + 10.07sINFOamclInitializing particles from estimated pose and covariance + 10.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 10.09sINFOcontroller_serverController Server has progress_checker progress checkers available. + 10.09sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 10.10sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 10.11sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 10.11sINFOlifecycle_manager_localizationServer amcl connected with bond. + 10.11sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.11sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.15sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 10.16sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 10.16sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 10.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 10.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 10.17sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 10.17sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 10.17sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 10.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 10.18sINFOamclThe bond connection to the lifecycle manager is now fully formed + 10.18sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 10.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 10.19sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 10.19sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 10.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 10.20sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 10.20sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 10.20sINFOcontroller_serverOptimizer reset ×2 + 10.21sINFOcontroller_serverController Server has FollowPath controllers available. + 10.22sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 10.22sINFOsmoother_serverConfiguring smoother server + 10.23sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.24sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.25sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.25sINFOplanner_serverConfiguring + 10.25sINFOglobal_costmap.global_costmapConfiguring + 10.26sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.28sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.28sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.28sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.30sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.33sINFOmove_group[2026-08-21 15:10:14.249] [moveit_pro_license] [info] ×2 + 10.33sINFOmove_group************************************************* ×4 + 10.33sINFOmove_group* MoveIt Pro License ×2 + 10.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.34sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.34sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.36sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.42sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 10.42sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 10.42sINFOplanner_serverPlanner Server has GridBased planners available. + 10.42sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.45sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 10.45sINFObehavior_serverConfiguring + 10.46sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 10.47sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 10.47sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 10.48sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 10.49sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 10.49sINFObehavior_serverConfiguring spin + 10.51sINFObehavior_serverConfiguring backup + 10.53sINFObehavior_serverConfiguring drive_on_heading + 10.55sINFObehavior_serverConfiguring assisted_teleop + 10.57sWARNwaypoint_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. + 10.57sWARNwaypoint_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. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_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. + 10.57sWARNwaypoint_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. + 10.57sINFObehavior_serverConfiguring wait + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_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. + 10.58sWARNwaypoint_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. + 10.58sWARNwaypoint_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. + 10.58sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.59sWARNwaypoint_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. + 10.60sWARNwaypoint_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. + 10.60sWARNwaypoint_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. + 10.60sWARNwaypoint_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. + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 10.60sINFObt_navigatorConfiguring + 10.60sWARNwaypoint_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. + 10.60sWARNwaypoint_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. + 10.60sWARNwaypoint_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. + 10.61sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 10.61sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_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. + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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. + 10.63sWARNwaypoint_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. + 10.63sWARNwaypoint_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. + 10.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.69sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.69sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.69sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.69sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.69sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.69sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.69sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.69sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.70sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.70sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.70sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.70sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.70sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503609 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503609 ms (missed cycles : 3).[0m ×2 + 10.80sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 10.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 10.94sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 11.03sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 11.03sINFOwaypoint_followerConfiguring + 11.06sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 11.07sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 11.07sINFOvelocity_smootherConfiguring velocity smoother + 11.08sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 11.08sINFOcontroller_serverActivating + 11.08sINFOlocal_costmap.local_costmapActivating + 11.08sINFOlocal_costmap.local_costmapChecking transform + 11.08sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×7 + 11.09sINFOwaypoint_manager_node[2026-08-21 15:10:15.016] [moveit_pro_license] [info] ×2 + 11.09sINFOwaypoint_manager_node************************************************* ×4 + 11.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 11.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.12sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 11.12sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 11.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 11.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 11.15sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 11.15sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 11.41sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.41sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 11.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.69sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.71sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 11.71sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 11.71sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 11.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 11.71sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 11.71sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 11.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 11.79sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.79sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.79sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 11.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.79sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 11.79sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 11.79sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 11.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.79sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 11.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.79sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 11.79sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 11.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.79sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 11.79sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 11.79sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 11.79sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 11.79sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 11.79sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 11.79sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 11.79sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 11.79sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.79sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.79sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.79sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.79sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.79sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.79sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.79sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.79sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.80sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.80sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.80sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483869 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483869 ms (missed cycles : 2).[0m ×2 + 11.82sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.82sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.82sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.83sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.83sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.83sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.83sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.84sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 11.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.84sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 11.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.87sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.88sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.88sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.89sINFOplatform_velocity_controller_nav2configure successful + 11.89sINFOros2_control_nodeconfigure successful[0m ×6 + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 11.92sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 11.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 11.94sINFOstreaming_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) + 11.94sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 11.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 12.02sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 12.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 12.02sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 12.02sINFOobjective_server_node[2026-08-21 15:10:15.943] [moveit_pro_license] [info] ×2 + 12.02sINFOobjective_server_node************************************************* ×4 + 12.02sINFOobjective_server_node* MoveIt Pro License ×2 + 12.02sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 12.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.02sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.04sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 12.10sINFOobjective_server_nodeLoaded robot model in 0.0279421 seconds[0m ×2 + 12.10sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 12.10sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.18sINFOros2-15process has finished cleanly [pid 9544] ×2 + 12.24sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 12.25sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 12.30sINFOmove_groupMoveGroup debug mode is ON + 12.31sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 12.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 12.31sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.31sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.31sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.31sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 12.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 12.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 12.34sWARNobjective_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. + 12.34sWARNobjective_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. + 12.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.34sWARNobjective_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. + 12.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 12.34sWARNobjective_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. + 12.35sWARNobjective_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. + 12.35sWARNobjective_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. + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_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. + 12.35sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 12.35sWARNobjective_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. + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_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. + 12.35sWARNobjective_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. + 12.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 12.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 12.38sINFOcomponent_container_mtLoaded robot model in 0.341417 seconds[0m ×2 + 12.38sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.38sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 12.43sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 12.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.45sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.45sINFOmove_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 ****************************************************** + 12.45sINFOmove_group ×8 + 12.45sINFOmove_group****************************************************** ×4 + 12.46sINFOmove_group* MoveGroup using: ×2 + 12.46sINFOmove_group* - apply_planning_scene_service ×2 + 12.46sINFOmove_group* - clear_octomap_service ×2 + 12.46sINFOmove_group* - get_group_urdf ×2 + 12.46sINFOmove_group* - load_geometry_from_file ×2 + 12.46sINFOmove_group* - get_planning_scene_service ×2 + 12.46sINFOmove_group* - kinematics_service ×2 + 12.46sINFOmove_group* - save_geometry_to_file ×2 + 12.46sINFOmove_group* - GetPlanningGroups ×2 + 12.46sINFOmove_group* - URDFPlanningSceneCapability ×2 + 12.46sINFOmove_group[0m ×2 + 12.46sINFOmove_group[92mYou can start planning now![0m ×2 + 12.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.60sINFOros2_control_node[2026-08-21 15:10:16.518] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.60sINFOros2_control_node[2026-08-21 15:10:16.521] [info] Controller state will be published at 10 Hz. ×2 + 12.60sINFOros2_control_node[2026-08-21 15:10:16.522] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.64sWARNplanning_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. + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.64sWARNplanning_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. + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.64sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.65sWARNplanning_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. + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.65sWARNplanning_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. + 12.66sWARNplanning_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. + 12.66sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.66sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.66sWARNplanning_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. + 12.66sWARNplanning_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. + 12.66sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.66sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 12.82sINFOcomponent_container_mt[2026-08-21 15:10:16.740] [moveit_pro_license] [info] ×2 + 12.82sINFOcomponent_container_mt************************************************* ×4 + 12.82sINFOcomponent_container_mt* MoveIt Pro License ×2 + 12.82sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 12.82sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576692 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576692 ms (missed cycles : 2).[0m ×2 + 12.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.96sINFOros2-18process has finished cleanly [pid 9547] ×2 + 13.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 13.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 13.02sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787325015.832 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 13.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 13.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 13.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 13.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 13.27sINFOros2_control_node[2026-08-21 15:10:17.196] [info] Controller state will be published at 20 Hz. ×2 + 13.28sINFOros2_control_node[2026-08-21 15:10:17.198] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.29sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 13.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 13.62sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.62sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.64sINFOros2-19process has finished cleanly [pid 9548] ×2 + 13.65sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.66sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.66sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.66sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.66sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.66sINFOcontroller_managerSuccessfully switched controllers! ×20 + 13.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 13.67sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.67sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.71sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.71sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.71sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.71sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629883 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629883 ms (missed cycles : 2).[0m ×2 + 13.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 13.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 13.99sINFOros2-14process has finished cleanly [pid 9543] ×2 + 14.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 14.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.06sINFOforce_torque_sensor_broadcasterconfigure successful + 14.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 14.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 14.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 14.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 14.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 14.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 14.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 14.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 14.39sINFOros2-10process has finished cleanly [pid 9539] ×2 + 14.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 14.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 14.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 14.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 14.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 14.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 14.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 14.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 14.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 14.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 14.58sINFOlocal_costmap.local_costmapstart + 14.63sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.671ms + 14.68sWARNcontroller_serverParameter controller_server.verbose not found + 14.68sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.69sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.79sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 14.79sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 14.79sINFOsmoother_serverActivating + 14.79sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 14.80sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 14.80sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 14.80sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 14.80sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 14.80sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 14.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 14.81sINFOros2-12process has finished cleanly [pid 9541] ×2 + 14.86sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 14.86sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 14.86sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.86sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 14.90sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 14.90sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 14.90sINFOplanner_serverActivating + 14.90sINFOglobal_costmap.global_costmapActivating + 14.90sINFOglobal_costmap.global_costmapChecking transform + 14.90sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787325018.782351 but the earliest data is at time 1787325019.433671, when looking up transform from frame [ridgeback_base_link] to frame [map] + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993768 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993768 ms (missed cycles : 2).[0m ×2 + 15.09sINFOros2_control_node[2026-08-21 15:10:19.014] [info] Controller state will be published at 20 Hz. ×2 + 15.09sINFOros2_control_node[2026-08-21 15:10:19.015] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.40sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787325019.290690 but the earliest data is at time 1787325019.433671, when looking up transform from frame [ridgeback_base_link] to frame [map] + 15.43sINFOros2-20process has finished cleanly [pid 9549] ×2 + 15.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.45sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 15.45sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 15.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 15.45sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 15.50sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 15.50sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 15.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.50sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.51sINFOplatform_velocity_controllerconfigure successful + 15.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.51sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 15.51sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 15.53sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787325018.334 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 15.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 15.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 15.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.86sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 15.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 15.87sINFOros2-13process has finished cleanly [pid 9542] ×2 + 15.90sINFOglobal_costmap.global_costmapstart + 15.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 15.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 15.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 15.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.15sINFOros2_control_node[2026-08-21 15:10:20.071] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.15sINFOros2_control_node[2026-08-21 15:10:20.073] [info] Controller state will be published at 10 Hz. ×2 + 16.15sINFOros2_control_node[2026-08-21 15:10:20.074] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234796 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234796 ms (missed cycles : 2).[0m ×2 + 16.45sINFOros2-17process has finished cleanly [pid 9546] ×2 + 16.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 16.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 16.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 16.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 16.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 16.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 16.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 16.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 16.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 16.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 16.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 16.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 16.56sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 16.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 16.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 16.56sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 16.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 16.56sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 16.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 16.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 16.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.87sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.87sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.87sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.87sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.87sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a + 16.88sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tqebr68m --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_k8wj07b5 --params-file /tmp/launch_params_a5x0_x7a [0m ×2 + 16.89sINFOros2-16process has finished cleanly [pid 9545] ×2 + 16.93sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 16.93sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 16.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 16.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 16.95sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 16.95sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 17.05sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 17.05sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 17.05sINFObehavior_serverActivating + 17.05sINFObehavior_serverActivating spin + 17.05sINFObehavior_serverActivating backup + 17.05sINFObehavior_serverActivating drive_on_heading + 17.05sINFObehavior_serverActivating assisted_teleop + 17.05sINFObehavior_serverActivating wait + 17.05sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 17.16sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 17.16sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 17.16sINFObt_navigatorActivating + 17.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 17.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 17.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.22sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 17.28sINFOros2-11process has finished cleanly [pid 9540] ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931181 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931181 ms (missed cycles : 2).[0m ×2 + 17.32sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 17.32sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 17.32sINFOwaypoint_followerActivating + 17.32sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 17.43sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 17.43sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 17.43sINFOvelocity_smootherActivating + 17.43sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 17.53sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 17.53sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 17.53sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2).[0m ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 21.83sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 22.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 22.35sINFOmove_groupClearing octomap...[0m ×2 + 22.35sINFOmove_groupOctomap cleared.[0m ×2 + 22.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 22.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 23.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 24.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.26sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 24.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 24.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 24.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 24.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 24.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 24.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 24.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 24.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 24.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.9s	3 errors · 230 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.247ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323779 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323779 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.876ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969912 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969912 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.531ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881172 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881172 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.834ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986396 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986396 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787325233.39378858 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.657ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.562ms + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787325233.96386480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792009 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792009 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673682 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673682 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985716 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985716 ms (missed cycles : 2).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.769ms + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225346 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225346 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.372ms + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.259ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028166 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028166 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.734ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.536ms + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451346 ms (missed cycles : 3). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451346 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.963ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.816ms + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103420 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103420 ms (missed cycles : 2).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.388ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.302ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223725 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223725 ms (missed cycles : 2).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.733ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.004ms + 13.30sINFOamclParticle filter update iteration stats: 4704 particles 723 points - 4.743ms + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596008 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596008 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 4.951ms + 14.30sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 4.032ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400112 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400112 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 3.340ms + 15.30sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 3.450ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870791 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870791 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 2.507ms + 16.29sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.910ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890084 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890084 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016589 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016589 ms (missed cycles : 2).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496611 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496611 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295112 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295112 ms (missed cycles : 2).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626720 ms (missed cycles : 3). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626720 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678031 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678031 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.664ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303567 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303567 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032693 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032693 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958493 ms (missed cycles : 2). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958493 ms (missed cycles : 2).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904868 ms (missed cycles : 2). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904868 ms (missed cycles : 2).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459034 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459034 ms (missed cycles : 3).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886068 ms (missed cycles : 2). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886068 ms (missed cycles : 2).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631074 ms (missed cycles : 2). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631074 ms (missed cycles : 2).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.651ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002998 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002998 ms (missed cycles : 3).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330742 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330742 ms (missed cycles : 2).[0m ×2 + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331014 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331014 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451254 ms (missed cycles : 3). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451254 ms (missed cycles : 3).[0m ×2 + 33.77sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.77sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161808 ms (missed cycles : 2). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161808 ms (missed cycles : 2).[0m ×2 + 34.63sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343292 ms (missed cycles : 3). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343292 ms (missed cycles : 3).[0m ×2 + 35.81sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270245 ms (missed cycles : 2). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270245 ms (missed cycles : 2).[0m ×2 + 37.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 37.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782464 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782464 ms (missed cycles : 2).[0m ×2 + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 38.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350464 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350464 ms (missed cycles : 2).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.644ms + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688726 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688726 ms (missed cycles : 2).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233235 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233235 ms (missed cycles : 2).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039648 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039648 ms (missed cycles : 2).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996620 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996620 ms (missed cycles : 2).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405962 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405962 ms (missed cycles : 2).[0m ×2 + 44.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805857 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805857 ms (missed cycles : 2).[0m ×2 + 45.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 46.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140396 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140396 ms (missed cycles : 2).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833032 ms (missed cycles : 2). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833032 ms (missed cycles : 2).[0m ×2 + 47.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004619 ms (missed cycles : 2). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004619 ms (missed cycles : 2).[0m ×2 + 48.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218401 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218401 ms (missed cycles : 2).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113205 ms (missed cycles : 2). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113205 ms (missed cycles : 2).[0m ×2 + 50.77sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897064 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897064 ms (missed cycles : 2).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278551 ms (missed cycles : 3). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278551 ms (missed cycles : 3).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680448 ms (missed cycles : 2). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680448 ms (missed cycles : 2).[0m ×2 + 54.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942409 ms (missed cycles : 2). + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942409 ms (missed cycles : 2).[0m ×2 + 54.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953122 ms (missed cycles : 2). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953122 ms (missed cycles : 2).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436258 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436258 ms (missed cycles : 2).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173438 ms (missed cycles : 2). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173438 ms (missed cycles : 2).[0m ×2 + 58.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.685ms + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037175 ms (missed cycles : 2). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037175 ms (missed cycles : 2).[0m ×2 + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388351 ms (missed cycles : 3). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388351 ms (missed cycles : 3).[0m ×2 + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.648ms + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702479 ms (missed cycles : 2). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702479 ms (missed cycles : 2).[0m ×2 + 62.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396319 ms (missed cycles : 3). + 62.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396319 ms (missed cycles : 3).[0m ×2 + 63.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 63.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691990 ms (missed cycles : 2). + 63.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691990 ms (missed cycles : 2).[0m ×2 + 63.86sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 64.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286574 ms (missed cycles : 2). + 64.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286574 ms (missed cycles : 2).[0m ×2 + 65.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148526 ms (missed cycles : 2). + 65.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148526 ms (missed cycles : 2).[0m ×2 + 66.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259774 ms (missed cycles : 2). + 66.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259774 ms (missed cycles : 2).[0m ×2 + 67.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434366 ms (missed cycles : 2). + 67.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434366 ms (missed cycles : 2).[0m ×2 + 68.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125316 ms (missed cycles : 2). + 68.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125316 ms (missed cycles : 2).[0m ×2 + 68.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 69.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100593 ms (missed cycles : 2). + 69.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100593 ms (missed cycles : 2).[0m ×2 + 69.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 70.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464976 ms (missed cycles : 2). + 70.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464976 ms (missed cycles : 2).[0m ×2 + 70.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 71.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 71.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578936 ms (missed cycles : 2). + 71.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578936 ms (missed cycles : 2).[0m ×2 + 72.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 72.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102620 ms (missed cycles : 2). + 72.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102620 ms (missed cycles : 2).[0m ×2 + 73.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.655ms + 73.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615619 ms (missed cycles : 2). + 73.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615619 ms (missed cycles : 2).[0m ×2 + 74.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907379 ms (missed cycles : 2). + 74.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907379 ms (missed cycles : 2).[0m ×2 + 75.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306813 ms (missed cycles : 2). + 75.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306813 ms (missed cycles : 2).[0m ×2 + 75.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 76.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176989 ms (missed cycles : 2). + 76.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176989 ms (missed cycles : 2).[0m ×2 + 77.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787325307.28404975 seconds ×3 + 77.44sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.44sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.646ms + 77.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787325307.86095595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942169 ms (missed cycles : 2). + 77.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942169 ms (missed cycles : 2).[0m ×2 + 78.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307031 ms (missed cycles : 2). + 78.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307031 ms (missed cycles : 2).[0m ×2 + 79.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080760 ms (missed cycles : 2). + 79.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080760 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	55.9s	181 warnings · 223 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787325075.33981252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093349 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093349 ms (missed cycles : 2).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.435ms + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761529 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761529 ms (missed cycles : 2).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 8.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969904 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969904 ms (missed cycles : 2).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 9.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 9.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159740 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159740 ms (missed cycles : 2).[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878215 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878215 ms (missed cycles : 2).[0m ×2 + 11.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 11.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765333 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765333 ms (missed cycles : 2).[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058052 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058052 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms ×2 + 14.06sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302652 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302652 ms (missed cycles : 2).[0m ×2 + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798882 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798882 ms (missed cycles : 3).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367884 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367884 ms (missed cycles : 2).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831784 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831784 ms (missed cycles : 2).[0m ×2 + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288028 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288028 ms (missed cycles : 2).[0m ×2 + 18.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904047 ms (missed cycles : 3). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904047 ms (missed cycles : 3).[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms ×2 + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014621 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014621 ms (missed cycles : 3).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238238 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238238 ms (missed cycles : 2).[0m ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538508 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538508 ms (missed cycles : 2).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226970 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226970 ms (missed cycles : 2).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548762 ms (missed cycles : 3). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548762 ms (missed cycles : 3).[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976751 ms (missed cycles : 2). + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976751 ms (missed cycles : 2).[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442365 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442365 ms (missed cycles : 2).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292812 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292812 ms (missed cycles : 2).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152629 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152629 ms (missed cycles : 2).[0m ×2 + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744413 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744413 ms (missed cycles : 2).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977776 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977776 ms (missed cycles : 2).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260153 ms (missed cycles : 2). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260153 ms (missed cycles : 2).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769232 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769232 ms (missed cycles : 2).[0m ×2 + 33.45sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968882 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968882 ms (missed cycles : 2).[0m ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672994 ms (missed cycles : 2). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672994 ms (missed cycles : 2).[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156803 ms (missed cycles : 3). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156803 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830477 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830477 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919530 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919530 ms (missed cycles : 2).[0m ×2 + 39.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.670ms + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624290 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624290 ms (missed cycles : 3).[0m ×2 + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968392 ms (missed cycles : 3). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968392 ms (missed cycles : 3).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982180 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982180 ms (missed cycles : 2).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639992 ms (missed cycles : 3). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639992 ms (missed cycles : 3).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735934 ms (missed cycles : 2). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735934 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051294 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051294 ms (missed cycles : 2).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468360 ms (missed cycles : 3). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468360 ms (missed cycles : 3).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408667 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408667 ms (missed cycles : 2).[0m ×2 + 47.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620939 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620939 ms (missed cycles : 2).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071830 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071830 ms (missed cycles : 2).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087882 ms (missed cycles : 2). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087882 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566946 ms (missed cycles : 2). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566946 ms (missed cycles : 2).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660304 ms (missed cycles : 2). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660304 ms (missed cycles : 2).[0m ×2 + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167344 ms (missed cycles : 2). + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167344 ms (missed cycles : 2).[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853060 ms (missed cycles : 2). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853060 ms (missed cycles : 2).[0m ×2 + 54.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 55.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 55.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 57.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 58.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 59.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 59.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 59.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 59.86sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 59.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 60.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	55.9s	173 warnings · 171 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.64sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.64sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×6 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.637ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.169ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895545 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895545 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.707ms + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.909ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316060 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316060 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.424ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131732 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131732 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.805ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.847ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267457 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267457 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.406ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.162ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.585ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386479 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386479 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.836ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.517ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513523 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513523 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.602ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.327ms + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.477ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842671 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842671 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.882ms + 14.81sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.308ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137216 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137216 ms (missed cycles : 2).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 4466 particles 723 points - 5.302ms + 16.10sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 4.909ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296254 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296254 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 4.198ms + 17.09sINFOamclParticle filter update iteration stats: 2721 particles 723 points - 4.636ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443247 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443247 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 3.061ms + 18.09sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.109ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267105 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267105 ms (missed cycles : 2).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472677 ms (missed cycles : 2). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472677 ms (missed cycles : 2).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859383 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859383 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834144 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834144 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174545 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174545 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744594 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744594 ms (missed cycles : 3).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879452 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879452 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708591 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708591 ms (missed cycles : 2).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855434 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855434 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350244 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350244 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597443 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597443 ms (missed cycles : 2).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996660 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996660 ms (missed cycles : 2).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070472 ms (missed cycles : 2). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070472 ms (missed cycles : 2).[0m ×2 + 33.05sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263567 ms (missed cycles : 2). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263567 ms (missed cycles : 2).[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564896 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564896 ms (missed cycles : 2).[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731433 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731433 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244959 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244959 ms (missed cycles : 2).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559018 ms (missed cycles : 2). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559018 ms (missed cycles : 2).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018769 ms (missed cycles : 2). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018769 ms (missed cycles : 2).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241616 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241616 ms (missed cycles : 2).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521610 ms (missed cycles : 2). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521610 ms (missed cycles : 2).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076282 ms (missed cycles : 2). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076282 ms (missed cycles : 2).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046697 ms (missed cycles : 2). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046697 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843701 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843701 ms (missed cycles : 2).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013540 ms (missed cycles : 2). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013540 ms (missed cycles : 2).[0m ×2 + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450104 ms (missed cycles : 3). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450104 ms (missed cycles : 3).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759012 ms (missed cycles : 2). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759012 ms (missed cycles : 2).[0m ×2 + 48.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899585 ms (missed cycles : 2). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899585 ms (missed cycles : 2).[0m ×2 + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257989 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257989 ms (missed cycles : 2).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373291 ms (missed cycles : 2). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373291 ms (missed cycles : 2).[0m ×2 + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663553 ms (missed cycles : 2). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663553 ms (missed cycles : 2).[0m ×2 + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281718 ms (missed cycles : 2). + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281718 ms (missed cycles : 2).[0m ×2 + 53.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 53.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 54.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539691 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539691 ms (missed cycles : 2).[0m ×2 + 55.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978596 ms (missed cycles : 2). + 55.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978596 ms (missed cycles : 2).[0m ×2 + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876115 ms (missed cycles : 2). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876115 ms (missed cycles : 2).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 57.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835589 ms (missed cycles : 2). + 57.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835589 ms (missed cycles : 2).[0m ×2 + 58.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787325369.56198621 seconds ×3 + 58.74sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 58.74sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 58.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.073ms + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2).[0m ×2 + 59.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787325370.13963985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.46sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 59.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415138 ms (missed cycles : 2). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415138 ms (missed cycles : 2).[0m ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981467 ms (missed cycles : 2). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981467 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.4s	175 warnings · 198 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.48sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787325168.15554023 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.922ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787325168.73315430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 5.49sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.49sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.49sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.763ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222104 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222104 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052289 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052289 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.125ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715837 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715837 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.057ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.777ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651954 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651954 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.814ms + 11.41sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.333ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280788 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280788 ms (missed cycles : 2).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223296 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223296 ms (missed cycles : 2).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100896 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100896 ms (missed cycles : 2).[0m ×2 + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762747 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762747 ms (missed cycles : 3).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.690ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487529 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487529 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×3 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms ×3 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160447 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160447 ms (missed cycles : 2).[0m ×2 + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249245 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249245 ms (missed cycles : 2).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.717ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639157 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639157 ms (missed cycles : 3).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697948 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697948 ms (missed cycles : 3).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121969 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121969 ms (missed cycles : 2).[0m ×2 + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794760 ms (missed cycles : 2). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794760 ms (missed cycles : 2).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293289 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293289 ms (missed cycles : 2).[0m ×2 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311508 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311508 ms (missed cycles : 2).[0m ×2 + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114219 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114219 ms (missed cycles : 2).[0m ×2 + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023627 ms (missed cycles : 2). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023627 ms (missed cycles : 2).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770917 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770917 ms (missed cycles : 2).[0m ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724187 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724187 ms (missed cycles : 2).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831369 ms (missed cycles : 2). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831369 ms (missed cycles : 2).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135158 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135158 ms (missed cycles : 2).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383475 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383475 ms (missed cycles : 2).[0m ×2 + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609119 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609119 ms (missed cycles : 2).[0m ×2 + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275223 ms (missed cycles : 2). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275223 ms (missed cycles : 2).[0m ×2 + 34.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118835 ms (missed cycles : 2). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118835 ms (missed cycles : 2).[0m ×2 + 35.46sINFOobjective_server_nodePlanning for 59 path waypoints. ×3 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959291 ms (missed cycles : 3). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959291 ms (missed cycles : 3).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162139 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162139 ms (missed cycles : 3).[0m ×2 + 38.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832977 ms (missed cycles : 3). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832977 ms (missed cycles : 3).[0m ×2 + 38.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 38.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183469 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183469 ms (missed cycles : 2).[0m ×2 + 39.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002119 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002119 ms (missed cycles : 2).[0m ×2 + 40.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 41.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643054 ms (missed cycles : 2). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643054 ms (missed cycles : 2).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261756 ms (missed cycles : 2). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261756 ms (missed cycles : 2).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480072 ms (missed cycles : 3). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480072 ms (missed cycles : 3).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059678 ms (missed cycles : 2). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059678 ms (missed cycles : 2).[0m ×2 + 45.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391278 ms (missed cycles : 2). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391278 ms (missed cycles : 2).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 46.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178887 ms (missed cycles : 2). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178887 ms (missed cycles : 2).[0m ×2 + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295313 ms (missed cycles : 2). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295313 ms (missed cycles : 2).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707735 ms (missed cycles : 2). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707735 ms (missed cycles : 2).[0m ×2 + 49.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.590ms + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241345 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241345 ms (missed cycles : 2).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850345 ms (missed cycles : 2). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850345 ms (missed cycles : 2).[0m ×2 + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806890 ms (missed cycles : 2). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806890 ms (missed cycles : 2).[0m ×2 + 52.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543027 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543027 ms (missed cycles : 2).[0m ×2 + 53.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783505 ms (missed cycles : 2). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783505 ms (missed cycles : 2).[0m ×2 + 54.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066310 ms (missed cycles : 2). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066310 ms (missed cycles : 2).[0m ×2 + 56.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.632ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127825 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127825 ms (missed cycles : 2).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882747 ms (missed cycles : 2). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882747 ms (missed cycles : 2).[0m ×2 + 57.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 57.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787325222.56330490 seconds ×3 + 57.96sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 57.96sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 58.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.027ms + 58.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787325223.12957859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167795 ms (missed cycles : 2). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167795 ms (missed cycles : 2).[0m ×2 + 58.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 59.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982718 ms (missed cycles : 2). + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982718 ms (missed cycles : 2).[0m ×2 + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706115 ms (missed cycles : 2). + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706115 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	135 warnings · 297 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.82sINFOmove_groupClearing octomap...[0m ×2 + 0.82sINFOmove_groupOctomap cleared.[0m ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_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 + 2.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127488 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127488 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293696 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293696 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961894 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961894 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713940 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713940 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060694 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060694 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638892 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638892 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730493 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730493 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563273 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563273 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096119 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096119 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822413 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822413 ms (missed cycles : 2).[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660593 ms (missed cycles : 2). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660593 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 1.861ms + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761667 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761667 ms (missed cycles : 2).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027030 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027030 ms (missed cycles : 2).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864774 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864774 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455392 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455392 ms (missed cycles : 2).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033432 ms (missed cycles : 2). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033432 ms (missed cycles : 2).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129722 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129722 ms (missed cycles : 2).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358115 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358115 ms (missed cycles : 2).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800602 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800602 ms (missed cycles : 2).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090590 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090590 ms (missed cycles : 2).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893464 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893464 ms (missed cycles : 2).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673299 ms (missed cycles : 2). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673299 ms (missed cycles : 2).[0m ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447523 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447523 ms (missed cycles : 2).[0m ×2 + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264771 ms (missed cycles : 2). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264771 ms (missed cycles : 2).[0m ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826268 ms (missed cycles : 2). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826268 ms (missed cycles : 2).[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238347 ms (missed cycles : 2). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238347 ms (missed cycles : 2).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238179 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238179 ms (missed cycles : 2).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755756 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755756 ms (missed cycles : 2).[0m ×2 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086579 ms (missed cycles : 2). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086579 ms (missed cycles : 2).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098720 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098720 ms (missed cycles : 2).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707428 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707428 ms (missed cycles : 2).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921322 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921322 ms (missed cycles : 2).[0m ×2 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2).[0m ×2 + 46.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 46.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 46.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 46.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 46.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 46.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 46.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 46.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 47.60sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 47.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 49.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.4s	107 warnings · 154 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056555 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056555 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886038 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886038 ms (missed cycles : 2).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.05sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787325136.72901034 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944365 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944365 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787325138.29539537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900576 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900576 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467202 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467202 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869506 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869506 ms (missed cycles : 2).[0m ×2 + 6.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.919ms + 7.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.877ms + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118273 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118273 ms (missed cycles : 2).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.076ms + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.910ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820328 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820328 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.349ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490626 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490626 ms (missed cycles : 2).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.595ms + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.153ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320133 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320133 ms (missed cycles : 2).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.839ms + 11.08sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.904ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463466 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463466 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 12.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.500ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973355 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973355 ms (missed cycles : 2).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.151ms + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.428ms + 13.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.311ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847408 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847408 ms (missed cycles : 2).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.169ms + 14.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.536ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882537 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882537 ms (missed cycles : 2).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.039ms + 15.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.559ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580970 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580970 ms (missed cycles : 2).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.203ms + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.523ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806136 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806136 ms (missed cycles : 2).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.225ms + 17.98sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 4.974ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917916 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917916 ms (missed cycles : 2).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 3679 particles 723 points - 4.265ms + 18.98sINFOamclParticle filter update iteration stats: 2774 particles 723 points - 3.718ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294026 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294026 ms (missed cycles : 2).[0m ×2 + 19.48sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 2.231ms + 19.97sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.289ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389327 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389327 ms (missed cycles : 2).[0m ×2 + 20.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 20.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346195 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346195 ms (missed cycles : 3).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866739 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866739 ms (missed cycles : 3).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760945 ms (missed cycles : 2). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760945 ms (missed cycles : 2).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539825 ms (missed cycles : 3). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539825 ms (missed cycles : 3).[0m ×2 + 24.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.696ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370512 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370512 ms (missed cycles : 2).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584294 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584294 ms (missed cycles : 2).[0m ×2 + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 27.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844312 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844312 ms (missed cycles : 2).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.666ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.683ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767247 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767247 ms (missed cycles : 2).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026035 ms (missed cycles : 2). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026035 ms (missed cycles : 2).[0m ×2 + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2).[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2).[0m ×2 + 33.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787325168.15554023 seconds ×3 + 33.52sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 33.52sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 33.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.922ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2).[0m ×2 + 34.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787325168.73315430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.34sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.0s	59 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978596 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978596 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876115 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876115 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835589 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835589 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787325369.56198621 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.073ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787325370.13963985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415138 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415138 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981467 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981467 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331593 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331593 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872142 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872142 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829674 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829674 ms (missed cycles : 2).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 9.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121328 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121328 ms (missed cycles : 2).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 9.94sINFOobjective_server_nodeFound path in 51 iterations (0.0302782 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____X] ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748134 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748134 ms (missed cycles : 2).[0m ×2 + 10.85sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201006 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201006 ms (missed cycles : 2).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.983ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684452 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684452 ms (missed cycles : 2).[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2).[0m ×2 + 13.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.714ms + 14.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2).[0m ×2 + 16.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787325383.55130768 seconds ×3 + 17.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2).[0m ×2 + 17.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325384.14986372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.44sINFOmove_groupClearing octomap...[0m ×2 + 17.44sINFOmove_groupOctomap cleared.[0m ×2 + 17.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325384.51000953 seconds ×3 + 18.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325385.07413793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2).[0m ×2 + 18.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325385.40427303 seconds ×3 + 18.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2). + 19.80sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	94 errors · 30 warnings · 436 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787325383.55130768 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325384.14986372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325384.51000953 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325385.07413793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325385.40427303 seconds ×3 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2). + 5.25sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223269 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223269 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888244 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888244 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751884 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751884 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109426 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109426 ms (missed cycles : 2).[0m ×2 + 10.25sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.33sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_video_auth_proxy-35process has died [pid 9615, 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 + 10.34sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.35sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 10.37sERRORweb_bridge_auth_proxy-34process has died [pid 9613, 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 + 10.37sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.39sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.41sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.43sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.44sINFOvideo_server-33process has finished cleanly [pid 9612] ×2 + 10.45sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.46sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.49sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.51sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.53sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888619 ms (missed cycles : 2). + 10.55sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.57sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.60sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.63sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.63sINFOcontroller_managerShutdown request received.... + 10.63sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.63sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.63sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.63sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.63sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.63sINFOcontroller_managerShutting down the controller manager. + 10.63sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9611] ×2 + 10.65sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.65sERRORmove_group-21process has died [pid 9550, 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_fpufvp26 --params-file /tmp/launch_params_om_ygidf --params-file /tmp/launch_params_354h3pjh --params-file /tmp/launch_params_ildgmpcz --params-file /tmp/launch_params_yrw187j8 --params-file /tmp/launch_params_j9becbwe']. ×2 + 10.66sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.69sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.70sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.71sINFOui_teleop_bridge-30process has finished cleanly [pid 9609] ×2 + 10.72sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.74sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.76sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.76sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.76sINFOmap_serverDeactivating + 10.76sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.77sINFOmap_serverCleaning up + 10.77sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.77sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.77sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787325391.732 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.78sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.78sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.78sINFOcontroller_serverDeactivating + 10.78sINFOlocal_costmap.local_costmapDeactivating + 10.78sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.78sINFOvideo_server2026/08/21 15:16:31 INF shutting down gracefully ×2 + 10.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOvideo_server2026/08/21 15:16:31 INF [WebRTC] closing ×2 + 10.78sINFOvideo_server2026/08/21 15:16:31 INF [RTSP] closing ×2 + 10.78sINFOvideo_server2026/08/21 15:16:31 INF waiting for running hooks ×2 + 10.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.78sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.78sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888619 ms (missed cycles : 2).[0m ×2 + 10.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.79sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.79sERRORmove_groupStack trace (most recent call last) in thread 10109: ×2 + 10.79sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.79sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8bff8b8a63, in __clone ×2 + 10.79sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8bff82baa3, in ×2 + 10.79sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8bffabddb3, in ×2 + 10.79sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8c0022e637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.79sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8bffe4f620, in rclcpp::Rate::sleep() ×2 + 10.79sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8bffd91d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.79sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8bffd53087, in ×2 + 10.79sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8bffa8c390, in __cxa_throw ×2 + 10.79sERRORamclThe bond connection to the lifecycle manager has been broken + 10.79sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8bffa76a54, in std::terminate() ×2 + 10.79sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 10.79sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8bffa8c0d9, in ×2 + 10.79sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8bffa76ff4, in ×2 + 10.79sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8bff7b78fe, in abort ×2 + 10.79sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8bff7d427d, in raise ×2 + 10.79sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8bff82db2c, in pthread_kill ×2 + 10.79sERRORmove_groupAborted (Signal sent by tkill() 9550 0) ×2 + 10.79sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.79sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.79sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.79sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.79sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.79sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.79sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.79sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.80sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.80sINFOodom_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 + 10.80sINFOodom_qos_relay.pymain() ×2 + 10.80sINFOodom_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 + 10.80sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.80sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.80sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.80sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.80sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.80sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.80sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.80sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.80sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.80sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.84sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.85sINFOcontroller_serverCleaning up + 10.85sINFOlocal_costmap.local_costmapCleaning up + 10.90sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.90sINFOsmoother_serverDeactivating + 10.90sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.91sINFOsmoother_serverCleaning up + 10.92sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.92sINFOplanner_serverDeactivating + 10.92sINFOglobal_costmap.global_costmapDeactivating + 10.99sERRORcomponent_container_isolated-2process has died [pid 9454, 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_gokbce4p --params-file /tmp/launch_params_zels4hez -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.99sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.99sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.99sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.99sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherDeactivating + 10.99sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.11sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.11sINFOwaypoint_followerDeactivating + 11.11sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.22sINFObt_navigatorDeactivating + 11.22sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.33sINFObehavior_serverDeactivating + 11.33sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.44sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.45sINFOvelocity_smootherCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.45sINFOwaypoint_followerCleaning up + 11.48sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.48sINFObt_navigatorCleaning up + 11.53sINFOexecute_objective_bridge-29process has finished cleanly [pid 9608] ×2 + 11.55sINFOcomponent_container_mt-28process has finished cleanly [pid 9592] ×2 + 11.56sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9589] ×2 + 11.56sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.56sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.57sINFOplanner_serverCleaning up + 11.59sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9588] ×2 + 11.59sINFOglobal_costmap.global_costmapCleaning up + 11.60sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.60sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.63sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.63sINFObehavior_serverCleaning up + 11.63sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.63sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.63sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.63sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.64sINFOparameter_manager_node-22process has finished cleanly [pid 9551] ×2 + 11.65sINFOwaypoint_manager_node-23process has finished cleanly [pid 9552] ×2 + 11.66sINFObt_navigatorCompleted Cleaning up + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.68sINFOobjective_server_node[2026-08-21 15:16:32.938] [moveit_pro_license] [critical] ×2 + 11.68sINFOobjective_server_node************************************************* ×4 + 11.68sINFOobjective_server_node* MoveIt Pro License ×2 + 11.68sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.69sINFOcomponent_container_mt-27process has finished cleanly [pid 9591] ×2 + 11.69sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9460] ×2 + 11.71sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9459] ×2 + 11.72sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.72sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.72sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.72sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.75sINFOobjective_server_node_main-26process has finished cleanly [pid 9590] ×2 + 11.75sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.76sINFOstatic_transform_publisher-4process has finished cleanly [pid 9456] ×2 + 11.78sINFOstatic_transform_publisher-3process has finished cleanly [pid 9455] ×2 + 11.78sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9458] ×2 + 11.79sERRORodom_qos_relay.py-5process has died [pid 9457, 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 + 11.99sERRORcomponent_container_isolated-1process has died [pid 9453, 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_gokbce4p --params-file /tmp/launch_params_gf358sqt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.09sINFOweb_bridge-31process has finished cleanly [pid 9610] ×2 + 13.09sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.30sINFOros2_control_node-9process has finished cleanly [pid 9461] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 53 warnings · 124 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783505 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783505 ms (missed cycles : 2).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066310 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066310 ms (missed cycles : 2).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.632ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127825 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127825 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882747 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882747 ms (missed cycles : 2).[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787325222.56330490 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.027ms + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787325223.12957859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167795 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167795 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982718 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982718 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 5.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706115 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706115 ms (missed cycles : 2).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274476 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274476 ms (missed cycles : 2).[0m ×2 + 7.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.036ms + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291409 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291409 ms (missed cycles : 2).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.716ms + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.396ms + 9.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.085ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683462 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683462 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.572ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.247ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323779 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323779 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.876ms + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969912 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969912 ms (missed cycles : 2).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 12.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.531ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881172 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881172 ms (missed cycles : 2).[0m ×2 + 13.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 13.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.834ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986396 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986396 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOjoint_trajectory_controllerGot request to cancel goal + 14.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787325233.39378858 seconds ×3 + 14.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.657ms + 14.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.562ms + 14.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787325233.96386480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792009 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792009 ms (missed cycles : 3).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673682 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673682 ms (missed cycles : 2).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985716 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985716 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.0s	43 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056555 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056555 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886038 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886038 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787325136.72901034 seconds ×3 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944365 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944365 ms (missed cycles : 2).[0m ×2 + 11.07sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787325138.29539537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900576 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900576 ms (missed cycles : 2).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467202 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467202 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.3s	41 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615619 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615619 ms (missed cycles : 2).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907379 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907379 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306813 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306813 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176989 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176989 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787325307.28404975 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.646ms + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787325307.86095595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942169 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942169 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307031 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307031 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080760 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080760 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 9.93sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 10.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 11.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.0s	24 warnings · 101 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 3.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787325075.33981252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2).[0m ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.0s	21 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.714ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787325383.55130768 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325384.14986372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325384.51000953 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325385.07413793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325385.40427303 seconds ×3 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2). + 6.45sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223269 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223269 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.82sINFOmove_groupClearing octomap...[0m ×2 + 0.82sINFOmove_groupOctomap cleared.[0m ×2 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_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 + 2.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 101 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787325075.33981252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896321 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877951 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 3.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671127 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857388 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787325071.74238896 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629335 ms (missed cycles : 2).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.512ms + 3.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787325072.30552578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866327 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.4251e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453963 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787325074.77567816 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709319 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714656 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147361 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337534 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547924 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787325130.69995880 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.151ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.21, 9.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 9.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787325131.27883792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457860 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888841 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096023 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787325168.15554023 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.922ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787325168.73315430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787325168.15554023 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.922ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787325168.73315430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826443 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059186 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792516 ms (missed cycles : 2).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787325168.15554023 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.922ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404159 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787325168.73315430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285887 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629423 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890727 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707159 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787325313.63109922 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218046 ms (missed cycles : 2).[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787325314.21184564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993485 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869395 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012176 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344347 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.714ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020426 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867641 ms (missed cycles : 2).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787325383.55130768 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477728 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787325384.14986372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787325384.51000953 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787325385.07413793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785378 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787325385.40427303 seconds ×3 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2). + 6.45sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827802 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 6.67sINFOjoint_trajectory_controllerReceived new action goal + 6.67sINFOjoint_trajectory_controllerAccepted new action goal + 6.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 6.67sINFOjoint_trajectory_controllerReceived new action goal + 6.67sINFOjoint_trajectory_controllerAccepted new action goal + 6.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856278 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227098 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 6.67sINFOjoint_trajectory_controllerReceived new action goal + 6.67sINFOjoint_trajectory_controllerAccepted new action goal + 6.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694561 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351477 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787325026.26824045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787325026.27849483 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787325026.84931731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787325026.86947012 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787325027.43899274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787325027.58951426 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009238 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787325028.17312551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787325028.22325325 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787325028.79141235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241548 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972450 ms (missed cycles : 2).[0m ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862395 ms (missed cycles : 2).[0m ×2