69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.9s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.6s | 12 errors · 312 warnings · 1402 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/2026-08-25-09-36-07-628349-1563b796db69-9343 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.80sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.80sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.88sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.89sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.89sINFOcontroller_managerupdate rate is 600 Hz + 13.89sINFOcontroller_managerOverruns handling is : enabled + 13.89sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.89sWARNcontroller_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. + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925532 ms (missed cycles : 2). + 14.05sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.12sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.15sINFOros2_control_node-9process started with pid [9401] ×2 + 14.16sINFOmove_group-21process started with pid [9508] ×2 + 14.16sINFOparameter_manager_node-22process started with pid [9509] ×2 + 14.16sINFOwaypoint_manager_node-23process started with pid [9510] ×2 + 14.16sINFOmove_joint_resampler_node-24process started with pid [9511] ×2 + 14.16sINFOmove_end_effector_resampler_node-25process started with pid [9512] ×2 + 14.16sINFOobjective_server_node_main-26process started with pid [9515] ×2 + 14.16sINFOcomponent_container_mt-27process started with pid [9517] ×2 + 14.16sINFOcomponent_container_mt-28process started with pid [9518] ×2 + 14.16sINFOexecute_objective_bridge-29process started with pid [9519] ×2 + 14.16sINFOui_teleop_bridge-30process started with pid [9520] ×2 + 14.16sINFOweb_bridge-31process started with pid [9521] ×2 + 14.16sINFOtf2_web_republisher_node-32process started with pid [9522] ×2 + 14.16sINFOvideo_server-33process started with pid [9523] ×2 + 14.16sINFOcontroller_serverCreating controller server + 14.17sINFOweb_bridge_auth_proxy-34process started with pid [9525] ×2 + 14.17sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.17sINFOweb_video_auth_proxy-35process started with pid [9526] ×2 + 14.18sINFOcomponent_container_isolated-1process started with pid [9393] ×2 + 14.18sINFOcomponent_container_isolated-2process started with pid [9394] ×2 + 14.18sINFOstatic_transform_publisher-3process started with pid [9395] ×2 + 14.18sINFOstatic_transform_publisher-4process started with pid [9396] ×2 + 14.18sINFOodom_qos_relay.py-5process started with pid [9397] ×2 + 14.18sINFOforward_stereo_publisher.py-6process started with pid [9398] ×2 + 14.18sINFOscan_to_scan_filter_chain-7process started with pid [9399] ×2 + 14.18sINFOscan_to_scan_filter_chain-8process started with pid [9400] ×2 + 14.19sINFOros2-10process started with pid [9479] ×2 + 14.19sINFOros2-11process started with pid [9480] ×2 + 14.19sINFOros2-12process started with pid [9481] ×2 + 14.19sINFOros2-13process started with pid [9482] ×2 + 14.19sINFOros2-14process started with pid [9483] ×2 + 14.19sINFOros2-15process started with pid [9484] ×2 + 14.19sINFOros2-16process started with pid [9485] ×2 + 14.19sINFOros2-17process started with pid [9486] ×2 + 14.19sINFOros2-18process started with pid [9487] ×2 + 14.19sINFOros2-19process started with pid [9488] ×2 + 14.19sINFOros2-20process started with pid [9507] ×2 + 14.20sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.20sINFOlocal_costmap.local_costmapCreating Costmap + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.26sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.27sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.29sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.29sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.29sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.29sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.29sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.29sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.29sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.29sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.29sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.29sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.29sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.29sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925532 ms (missed cycles : 2).[0m ×2 + 14.30sINFOsmoother_serverCreating smoother server + 14.30sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.32sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.32sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.32sINFOmap_serverCreating + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.35sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.35sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.41sINFOplanner_serverCreating + 14.43sINFOrobot_state_publisherRobot initialized + 14.45sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.45sINFOcontroller_managerReceived robot description from topic. + 14.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.45sINFOglobal_costmap.global_costmapCreating Costmap + 14.46sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.46sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.46sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.46sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.50sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.51sINFOlifecycle_manager_localizationCreating + 14.51sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.53sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.54sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.55sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.55sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.55sINFOmap_serverConfiguring + 14.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.63sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.65sINFObt_navigatorCreating + 14.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.68sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.68sINFOamclConfiguring + 14.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.69sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.69sINFOmap_serverActivating + 14.69sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.72sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.72sINFOwaypoint_followerCreating + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.80sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.423152 seconds + 14.80sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.80sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.80sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.80sINFOamclActivating + 14.80sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.80sINFOmove_groupLoaded robot model in 0.423152 seconds[0m ×2 + 14.80sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.80sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.80sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.80sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.81sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.81sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.81sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.83sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.83sINFOamclSubscribed to map_topic: /map + 14.83sINFOamclSubscribed to scan_topic: /scan_merged + 14.83sINFOamclCreated reinitialize_global_localization service + 14.83sINFOamclCreated request_nomotion_update service + 14.84sINFOamclA new map was received + 14.84sINFOamclInitializing particle filter instance + 14.85sINFOlifecycle_manager_navigationCreating + 14.87sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.90sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.90sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.90sINFOvideo_server2026/08/25 09:36:25 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.90sINFOcontroller_serverConfiguring controller interface + 14.90sINFOcontroller_servergetting progress checker plugins.. + 14.90sINFOcontroller_servergetting goal checker plugins.. + 14.91sINFOcontroller_serverController frequency set to 20.0000Hz + 14.91sINFOlocal_costmap.local_costmapConfiguring + 14.91sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.92sINFOvideo_server2026/08/25 09:36:25 INF configuration loaded from /tmp/moveit-webrtc-vbtasrl9/mediamtx.yml ×2 + 14.93sINFOvideo_server2026/08/25 09:36:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.93sINFOvideo_server2026/08/25 09:36:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.93sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.95sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.95sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.95sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.98sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.98sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.98sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.98sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.99sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.01sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.03sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.03sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.03sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.03sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.03sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.03sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.04sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.04sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.04sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.05sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.05sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.05sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.05sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.05sINFOcontroller_serverOptimizer reset ×2 + 15.07sINFOcontroller_serverController Server has FollowPath controllers available. + 15.10sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.10sINFOsmoother_serverConfiguring smoother server + 15.12sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.13sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.14sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.14sINFOplanner_serverConfiguring + 15.14sINFOglobal_costmap.global_costmapConfiguring + 15.14sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.14sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.14sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.14sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.15sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.19sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.19sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.19sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516022 ms (missed cycles : 3). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516022 ms (missed cycles : 3).[0m ×2 + 15.24sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.24sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.24sINFOplanner_serverPlanner Server has GridBased planners available. + 15.25sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.25sINFObehavior_serverConfiguring + 15.26sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.26sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.26sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.27sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.27sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.28sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.29sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.31sINFObehavior_serverConfiguring spin + 15.32sINFObehavior_serverConfiguring backup + 15.33sINFObehavior_serverConfiguring drive_on_heading + 15.34sINFObehavior_serverConfiguring assisted_teleop + 15.36sINFObehavior_serverConfiguring wait + 15.38sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.38sINFObt_navigatorConfiguring + 15.38sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.40sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.40sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.58sINFOamclParticle filter initialization completed + 15.58sINFOamclInitializing particles from estimated pose and covariance + 15.58sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.60sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.60sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.60sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.67sINFOwaypoint_manager_nodeLoaded robot model in 0.355819 seconds[0m ×2 + 15.67sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.67sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.69sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.73sINFOmove_group[2026-08-25 09:36:26.776] [moveit_pro_license] [info] ×2 + 15.73sINFOmove_group************************************************* ×4 + 15.73sINFOmove_group* MoveIt Pro License ×2 + 15.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.77sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.90sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.90sINFOwaypoint_followerConfiguring + 15.94sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.95sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.95sINFOvelocity_smootherConfiguring velocity smoother + 15.96sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.96sINFOcontroller_serverActivating + 15.96sINFOlocal_costmap.local_costmapActivating + 15.96sINFOlocal_costmap.local_costmapChecking transform + 15.96sINFOlocal_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. ×5 + 16.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.21sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.23sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.28sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.29sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118623 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118623 ms (missed cycles : 2).[0m ×2 + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_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 + 16.86sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.86sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.92sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.92sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.92sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.92sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.92sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.92sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.92sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.93sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.93sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.94sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.94sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.94sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.94sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.96sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.98sINFOwaypoint_manager_node[2026-08-25 09:36:28.037] [moveit_pro_license] [info] ×2 + 16.98sINFOwaypoint_manager_node************************************************* ×4 + 16.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.46sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.47sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.50sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.50sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.50sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.51sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 17.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.51sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.51sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.51sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.51sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.51sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.51sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.51sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.51sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.51sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.51sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.51sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.51sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.51sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.51sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.51sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.51sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.51sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.51sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.51sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.51sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.51sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.53sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.53sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.54sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.62sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.62sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.62sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.62sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.62sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 17.62sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 17.65sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.65sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.65sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.65sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.66sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.66sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.66sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.66sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.66sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.75sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 17.75sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.75sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002336 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002336 ms (missed cycles : 2).[0m ×2 + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 18.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 18.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.07sINFOros2-11process has finished cleanly [pid 9480] ×2 + 18.13sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.13sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.13sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.13sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.13sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.13sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.14sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.14sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.15sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.15sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.25sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.26sINFOstreaming_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) + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.26sINFOcomponent_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 + 18.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.27sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.35sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 3.532ms + 18.36sINFOobjective_server_node[2026-08-25 09:36:29.416] [moveit_pro_license] [info] ×2 + 18.36sINFOobjective_server_node************************************************* ×4 + 18.36sINFOobjective_server_node* MoveIt Pro License ×2 + 18.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.45sINFOobjective_server_nodeLoaded robot model in 0.0391708 seconds[0m ×2 + 18.45sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.45sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.46sINFOlocal_costmap.local_costmapstart + 18.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.48sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.49sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.49sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.50sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 18.50sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 18.51sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.51sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.51sINFOros2-12process has finished cleanly [pid 9481] ×2 + 18.56sINFOcomponent_container_mtLoaded robot model in 0.316253 seconds[0m ×2 + 18.56sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.56sWARNcontroller_serverParameter controller_server.verbose not found + 18.57sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.57sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.58sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.60sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.60sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.60sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.60sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.60sINFOplatform_velocity_controller_nav2configure successful + 18.61sINFOros2_control_nodeconfigure successful[0m ×6 + 18.67sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.67sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.67sINFOsmoother_serverActivating + 18.67sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.74sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787650588.690 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.78sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.78sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.78sINFOplanner_serverActivating + 18.78sINFOglobal_costmap.global_costmapActivating + 18.78sINFOglobal_costmap.global_costmapChecking transform + 18.78sINFOglobal_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 1787650589.823788 but the earliest data is at time 1787650590.290355, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882715 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882715 ms (missed cycles : 2).[0m ×2 + 18.98sINFOmove_groupMoveGroup debug mode is ON + 18.98sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_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. + 19.00sWARNobjective_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 + 19.00sWARNobjective_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 + 19.00sWARNobjective_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 + 19.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.06sINFOros2-15process has finished cleanly [pid 9484] ×2 + 19.08sINFOobjective_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 + 19.08sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.10sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 19.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 19.12sWARNplanning_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. + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sWARNplanning_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. + 19.13sWARNplanning_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. + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 19.15sINFOmove_group ×8 + 19.15sINFOmove_group******************************************************** ×4 + 19.16sINFOmove_group* MoveGroup using: ×2 + 19.16sINFOmove_group* - apply_planning_scene_service ×2 + 19.16sINFOmove_group* - clear_octomap_service ×2 + 19.16sINFOmove_group* - get_group_urdf ×2 + 19.16sINFOmove_group* - load_geometry_from_file ×2 + 19.16sINFOmove_group* - get_planning_scene_service ×2 + 19.16sINFOmove_group* - kinematics_service ×2 + 19.16sINFOmove_group* - save_geometry_to_file ×2 + 19.16sINFOmove_group* - GetPlanningGroups ×2 + 19.16sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.16sINFOmove_group[0m ×2 + 19.16sINFOmove_group[92mYou can start planning now![0m ×2 + 19.19sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.19sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 19.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 19.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.28sINFOglobal_costmap.global_costmapstart + 19.43sINFOcomponent_container_mt[2026-08-25 09:36:30.493] [moveit_pro_license] [info] ×2 + 19.43sINFOcomponent_container_mt************************************************* ×4 + 19.43sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.43sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.47sWARNros2_control_nodeCamera render tick took 0.83 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.62sINFOros2_control_node[2026-08-25 09:36:30.680] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.62sINFOros2_control_node[2026-08-25 09:36:30.684] [info] Controller state will be published at 10 Hz. ×2 + 19.62sINFOros2_control_node[2026-08-25 09:36:30.685] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.81sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.81sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468221 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468221 ms (missed cycles : 3).[0m ×2 + 19.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 19.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 20.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.01sINFOros2-17process has finished cleanly [pid 9486] ×2 + 20.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.07sINFOforce_torque_sensor_broadcasterconfigure successful + 20.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.34sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.34sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.40sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.40sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.40sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 20.40sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.40sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.40sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 20.41sINFOros2-10process has finished cleanly [pid 9479] ×2 + 20.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.45sINFObehavior_serverActivating + 20.45sINFObehavior_serverActivating spin + 20.45sINFObehavior_serverActivating backup + 20.45sINFObehavior_serverActivating drive_on_heading + 20.45sINFObehavior_serverActivating assisted_teleop + 20.45sINFObehavior_serverActivating wait + 20.45sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.47sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.47sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.48sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.48sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.55sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.55sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.55sINFObt_navigatorActivating + 20.61sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.72sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.72sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.72sINFOwaypoint_followerActivating + 20.72sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.83sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.83sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.83sINFOvelocity_smootherActivating + 20.83sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.93sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.93sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.93sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292054 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292054 ms (missed cycles : 2).[0m ×2 + 21.00sINFOros2_control_node[2026-08-25 09:36:32.061] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.00sINFOros2_control_node[2026-08-25 09:36:32.063] [info] Controller state will be published at 10 Hz. ×2 + 21.00sINFOros2_control_node[2026-08-25 09:36:32.064] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.35sINFOros2-18process has finished cleanly [pid 9487] ×2 + 21.36sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.36sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.43sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 21.44sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 21.50sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.50sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.67sWARNobjective_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 + 21.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.95sINFOros2_control_node[2026-08-25 09:36:33.009] [info] Controller state will be published at 20 Hz. ×2 + 21.95sINFOros2_control_node[2026-08-25 09:36:33.010] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254937 ms (missed cycles : 2). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254937 ms (missed cycles : 2).[0m ×2 + 22.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 22.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 22.32sINFOros2-20process has finished cleanly [pid 9507] ×2 + 22.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.42sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.42sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.42sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.42sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 22.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 22.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 22.82sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 22.82sINFOros2-16process has finished cleanly [pid 9485] ×2 + 22.87sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 22.87sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 22.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 22.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 22.88sINFOplatform_velocity_controllerconfigure successful + 22.88sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 22.88sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 22.89sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 22.89sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934282 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934282 ms (missed cycles : 2).[0m ×2 + 23.43sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.43sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.43sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.43sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.43sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 23.43sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 23.44sINFOros2-13process has finished cleanly [pid 9482] ×2 + 23.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.49sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.49sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.49sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.49sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.50sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.51sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.51sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.85sINFOros2-14process has finished cleanly [pid 9483] ×2 + 23.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 23.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 + 23.89sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.89sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 23.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c9yytsud --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_qf4vgop_ --params-file /tmp/launch_params_ixq7lv38 [0m ×2 + 23.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 23.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 23.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 23.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452735 ms (missed cycles : 3). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452735 ms (missed cycles : 3).[0m ×2 + 24.43sINFOros2_control_node[2026-08-25 09:36:35.490] [info] Controller state will be published at 20 Hz. ×2 + 24.43sINFOros2_control_node[2026-08-25 09:36:35.492] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.77sINFOros2-19process has finished cleanly [pid 9488] ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878063 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878063 ms (missed cycles : 3).[0m ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 27.55sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 29.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.72sINFOmove_groupClearing octomap...[0m ×2 + 29.72sINFOmove_groupOctomap cleared.[0m ×2 + 29.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 30.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 30.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 31.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.69sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 31.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.5s | 3 errors · 231 warnings · 241 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.789ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198717 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198717 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.324ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.215ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643297 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643297 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.806ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517929 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517929 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.528ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.045ms + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697983 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697983 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.903ms + 4.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sERRORobjective_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: 1787650814.16830826 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.641ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787650814.75535917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518745 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518745 ms (missed cycles : 3).[0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568208 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568208 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174357 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174357 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.23sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.23sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.23sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.24sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389092 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389092 ms (missed cycles : 3).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.959ms + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555187 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555187 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.744ms + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.928ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039018 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039018 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.721ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117781 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117781 ms (missed cycles : 4).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.947ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446255 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446255 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.840ms + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.107ms + 13.70sINFOamclParticle filter update iteration stats: 4311 particles 723 points - 7.694ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363554 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363554 ms (missed cycles : 4).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.124ms + 14.70sINFOamclParticle filter update iteration stats: 2878 particles 723 points - 5.941ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533478 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533478 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 3.999ms + 15.69sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.580ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960661 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960661 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.891ms + 16.69sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.617ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433790 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433790 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919252 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919252 ms (missed cycles : 2).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834800 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834800 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649355 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649355 ms (missed cycles : 3).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583659 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583659 ms (missed cycles : 3).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089200 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089200 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465859 ms (missed cycles : 4). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465859 ms (missed cycles : 4).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701315 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701315 ms (missed cycles : 2).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979037 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979037 ms (missed cycles : 2).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811854 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811854 ms (missed cycles : 2).[0m ×2 + 28.50sINFOros2_control_nodeMuJoCo sim: 1.61% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977283 ms (missed cycles : 3). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977283 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984382 ms (missed cycles : 2). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984382 ms (missed cycles : 2).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944256 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944256 ms (missed cycles : 3).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013929 ms (missed cycles : 4). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013929 ms (missed cycles : 4).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720751 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720751 ms (missed cycles : 2).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763546 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763546 ms (missed cycles : 3).[0m ×2 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146179 ms (missed cycles : 4). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146179 ms (missed cycles : 4).[0m ×2 + 35.61sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.61sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.86sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469857 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.469857 ms (missed cycles : 4).[0m ×2 + 36.73sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443622 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443622 ms (missed cycles : 2).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888743 ms (missed cycles : 3). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888743 ms (missed cycles : 3).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999210 ms (missed cycles : 3). + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999210 ms (missed cycles : 3).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069602 ms (missed cycles : 4). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069602 ms (missed cycles : 4).[0m ×2 + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239265 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239265 ms (missed cycles : 2).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664415 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664415 ms (missed cycles : 2).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156246 ms (missed cycles : 2). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156246 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233939 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233939 ms (missed cycles : 3).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381642 ms (missed cycles : 4). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381642 ms (missed cycles : 4).[0m ×2 + 45.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713180 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713180 ms (missed cycles : 3).[0m ×2 + 46.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008410 ms (missed cycles : 2). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008410 ms (missed cycles : 2).[0m ×2 + 47.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 48.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682626 ms (missed cycles : 4). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682626 ms (missed cycles : 4).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075102 ms (missed cycles : 2). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075102 ms (missed cycles : 2).[0m ×2 + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 51.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759363 ms (missed cycles : 2). + 51.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759363 ms (missed cycles : 2).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250611 ms (missed cycles : 4). + 52.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250611 ms (missed cycles : 4).[0m ×2 + 52.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 52.94sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115123 ms (missed cycles : 4). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115123 ms (missed cycles : 4).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091579 ms (missed cycles : 2). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091579 ms (missed cycles : 2).[0m ×2 + 55.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705450 ms (missed cycles : 3). + 55.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705450 ms (missed cycles : 3).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690735 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690735 ms (missed cycles : 2).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906109 ms (missed cycles : 4). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906109 ms (missed cycles : 4).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 58.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375607 ms (missed cycles : 2). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375607 ms (missed cycles : 2).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848826 ms (missed cycles : 3). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848826 ms (missed cycles : 3).[0m ×2 + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.964027 ms (missed cycles : 8). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.964027 ms (missed cycles : 8).[0m ×2 + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 62.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892465 ms (missed cycles : 3). + 62.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892465 ms (missed cycles : 3).[0m ×2 + 62.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 64.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119192 ms (missed cycles : 4). + 64.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119192 ms (missed cycles : 4).[0m ×2 + 64.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 65.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874964 ms (missed cycles : 3). + 65.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874964 ms (missed cycles : 3).[0m ×2 + 65.72sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 66.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801499 ms (missed cycles : 3). + 66.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801499 ms (missed cycles : 3).[0m ×2 + 67.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339065 ms (missed cycles : 4). + 67.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339065 ms (missed cycles : 4).[0m ×2 + 68.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636567 ms (missed cycles : 3). + 68.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636567 ms (missed cycles : 3).[0m ×2 + 69.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432062 ms (missed cycles : 4). + 69.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432062 ms (missed cycles : 4).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822015 ms (missed cycles : 2). + 70.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822015 ms (missed cycles : 2).[0m ×2 + 71.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 72.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846032 ms (missed cycles : 2). + 72.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846032 ms (missed cycles : 2).[0m ×2 + 72.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 72.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 73.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446494 ms (missed cycles : 2). + 73.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446494 ms (missed cycles : 2).[0m ×2 + 73.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 74.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475962 ms (missed cycles : 4). + 74.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475962 ms (missed cycles : 4).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 75.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152206 ms (missed cycles : 2). + 75.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152206 ms (missed cycles : 2).[0m ×2 + 75.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 76.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 76.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979238 ms (missed cycles : 3). + 76.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979238 ms (missed cycles : 3).[0m ×2 + 77.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267390 ms (missed cycles : 5). + 77.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267390 ms (missed cycles : 5).[0m ×2 + 77.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 78.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787650888.64558315 seconds ×3 + 78.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891983 ms (missed cycles : 2). + 78.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891983 ms (missed cycles : 2).[0m ×2 + 78.60sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.60sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.58) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.640ms + 78.70sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 5.37) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.70sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 5.20) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.179ms + 79.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787650889.23929977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903743 ms (missed cycles : 2). + 79.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903743 ms (missed cycles : 2).[0m ×2 + 80.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930077 ms (missed cycles : 3). + 80.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930077 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 57.5s | 184 warnings · 192 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.05sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787650745.91030383 seconds ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787650746.49804306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4).[0m ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549612 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549612 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852153 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852153 ms (missed cycles : 3).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.761ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112244 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112244 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.424ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.728ms + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.292ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557541 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557541 ms (missed cycles : 3).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.413ms + 11.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.112ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766437 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766437 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.511ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.922ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815954 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815954 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.404ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042182 ms (missed cycles : 4). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042182 ms (missed cycles : 4).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 14.60sINFOamclParticle filter update iteration stats: 4694 particles 723 points - 8.620ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230462 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230462 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 4146 particles 723 points - 7.737ms + 15.60sINFOamclParticle filter update iteration stats: 3627 particles 723 points - 4.768ms + 16.10sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 4.388ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278034 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278034 ms (missed cycles : 2).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 3.561ms + 17.10sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 4.945ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065344 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065344 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 2.876ms + 18.09sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 4.851ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274965 ms (missed cycles : 4). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274965 ms (missed cycles : 4).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413204 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413204 ms (missed cycles : 2).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396021 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396021 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783742 ms (missed cycles : 3). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783742 ms (missed cycles : 3).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030320 ms (missed cycles : 4). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030320 ms (missed cycles : 4).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849963 ms (missed cycles : 2). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849963 ms (missed cycles : 2).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617929 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617929 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097548 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097548 ms (missed cycles : 2).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761257 ms (missed cycles : 2). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761257 ms (missed cycles : 2).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479425 ms (missed cycles : 4). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479425 ms (missed cycles : 4).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562023 ms (missed cycles : 4). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562023 ms (missed cycles : 4).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634902 ms (missed cycles : 4). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634902 ms (missed cycles : 4).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241197 ms (missed cycles : 2). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241197 ms (missed cycles : 2).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942418 ms (missed cycles : 3). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942418 ms (missed cycles : 3).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254488 ms (missed cycles : 5). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254488 ms (missed cycles : 5).[0m ×2 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248105 ms (missed cycles : 2). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248105 ms (missed cycles : 2).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768979 ms (missed cycles : 5). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768979 ms (missed cycles : 5).[0m ×2 + 36.80sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664588 ms (missed cycles : 3). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664588 ms (missed cycles : 3).[0m ×2 + 37.34sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.17sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775832 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775832 ms (missed cycles : 3).[0m ×2 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147491 ms (missed cycles : 5). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147491 ms (missed cycles : 5).[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786816 ms (missed cycles : 3). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786816 ms (missed cycles : 3).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712475 ms (missed cycles : 4). + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712475 ms (missed cycles : 4).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478863 ms (missed cycles : 2). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478863 ms (missed cycles : 2).[0m ×2 + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145114 ms (missed cycles : 5). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145114 ms (missed cycles : 5).[0m ×2 + 43.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349154 ms (missed cycles : 3). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349154 ms (missed cycles : 3).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958319 ms (missed cycles : 2). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958319 ms (missed cycles : 2).[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263717 ms (missed cycles : 2). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263717 ms (missed cycles : 2).[0m ×2 + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358244 ms (missed cycles : 4). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358244 ms (missed cycles : 4).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 48.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229262 ms (missed cycles : 4). + 48.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229262 ms (missed cycles : 4).[0m ×2 + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362436 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362436 ms (missed cycles : 3).[0m ×2 + 50.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524345 ms (missed cycles : 3). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524345 ms (missed cycles : 3).[0m ×2 + 51.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053285 ms (missed cycles : 3). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053285 ms (missed cycles : 3).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 52.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045158 ms (missed cycles : 4). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045158 ms (missed cycles : 4).[0m ×2 + 53.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266809 ms (missed cycles : 4). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266809 ms (missed cycles : 4).[0m ×2 + 54.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403497 ms (missed cycles : 4). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403497 ms (missed cycles : 4).[0m ×2 + 55.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452091 ms (missed cycles : 4). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452091 ms (missed cycles : 4).[0m ×2 + 56.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731726 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731726 ms (missed cycles : 2).[0m ×2 + 57.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088723 ms (missed cycles : 3). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088723 ms (missed cycles : 3).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908389 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908389 ms (missed cycles : 2).[0m ×2 + 60.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314484 ms (missed cycles : 2). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314484 ms (missed cycles : 2).[0m ×2 + 61.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787650803.39819193 seconds ×3 + 61.69sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.461ms + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-1.59, 9.67) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 10.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 62.17sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787650803.98546529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897285 ms (missed cycles : 3). + 62.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897285 ms (missed cycles : 3).[0m ×2 + 62.65sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 63.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778956 ms (missed cycles : 2). + 63.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778956 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 182 warnings · 222 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.33sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.81sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.81sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.81sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787650649.79877472 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787650650.39112401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790429 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790429 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670284 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670284 ms (missed cycles : 2).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.756ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786857 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786857 ms (missed cycles : 3).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 9.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729629 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729629 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906296 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906296 ms (missed cycles : 2).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063829 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063829 ms (missed cycles : 2).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms ×2 + 12.33sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767124 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767124 ms (missed cycles : 2).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138789 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138789 ms (missed cycles : 4).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502520 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502520 ms (missed cycles : 4).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871893 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871893 ms (missed cycles : 4).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190468 ms (missed cycles : 4). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190468 ms (missed cycles : 4).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 17.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345774 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345774 ms (missed cycles : 3).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083486 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083486 ms (missed cycles : 2).[0m ×2 + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540045 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540045 ms (missed cycles : 3).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.720471 ms (missed cycles : 6). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.720471 ms (missed cycles : 6).[0m ×2 + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570761 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570761 ms (missed cycles : 3).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682062 ms (missed cycles : 3). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682062 ms (missed cycles : 3).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718172 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718172 ms (missed cycles : 2).[0m ×2 + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876809 ms (missed cycles : 3). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876809 ms (missed cycles : 3).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368459 ms (missed cycles : 4). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368459 ms (missed cycles : 4).[0m ×2 + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879441 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879441 ms (missed cycles : 2).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355871 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355871 ms (missed cycles : 3).[0m ×2 + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628709 ms (missed cycles : 3). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628709 ms (missed cycles : 3).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808660 ms (missed cycles : 2). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808660 ms (missed cycles : 2).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869435 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869435 ms (missed cycles : 3).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491551 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491551 ms (missed cycles : 3).[0m ×2 + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165941 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165941 ms (missed cycles : 3).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364959 ms (missed cycles : 2). + 34.96sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364959 ms (missed cycles : 2).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740420 ms (missed cycles : 3). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740420 ms (missed cycles : 3).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353212 ms (missed cycles : 2). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353212 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606132 ms (missed cycles : 4). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606132 ms (missed cycles : 4).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214911 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214911 ms (missed cycles : 3).[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605385 ms (missed cycles : 3). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605385 ms (missed cycles : 3).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653622 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653622 ms (missed cycles : 3).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150091 ms (missed cycles : 4). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150091 ms (missed cycles : 4).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414940 ms (missed cycles : 3). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414940 ms (missed cycles : 3).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799824 ms (missed cycles : 3). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799824 ms (missed cycles : 3).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972713 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972713 ms (missed cycles : 2).[0m ×2 + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536135 ms (missed cycles : 3). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536135 ms (missed cycles : 3).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950132 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950132 ms (missed cycles : 2).[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771728 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771728 ms (missed cycles : 2).[0m ×2 + 49.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990086 ms (missed cycles : 3). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990086 ms (missed cycles : 3).[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602893 ms (missed cycles : 3). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602893 ms (missed cycles : 3).[0m ×2 + 51.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.670ms + 52.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483602 ms (missed cycles : 3). + 52.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483602 ms (missed cycles : 3).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243507 ms (missed cycles : 2). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243507 ms (missed cycles : 2).[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527403 ms (missed cycles : 3). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527403 ms (missed cycles : 3).[0m ×2 + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358205 ms (missed cycles : 3). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358205 ms (missed cycles : 3).[0m ×2 + 56.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 59.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 60.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 60.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.84sWARNlocal_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. + 60.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 61.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 61.76sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 61.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 62.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.1s | 184 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209372 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209372 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.88sINFOros2_control_nodeMuJoCo sim: 2.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715080 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715080 ms (missed cycles : 2).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.860ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241939 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241939 ms (missed cycles : 2).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619983 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619983 ms (missed cycles : 3).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.433ms + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.600ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215992 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215992 ms (missed cycles : 4).[0m ×2 + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.115ms + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.255ms + 11.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721317 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721317 ms (missed cycles : 3).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.975ms + 12.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973147 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973147 ms (missed cycles : 3).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.686ms + 13.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.261ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344376 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344376 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.986ms + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.079ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846112 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846112 ms (missed cycles : 3).[0m ×2 + 14.87sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 6.274ms + 15.37sINFOamclParticle filter update iteration stats: 3845 particles 723 points - 5.400ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511993 ms (missed cycles : 4). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511993 ms (missed cycles : 4).[0m ×2 + 15.87sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 5.025ms + 16.37sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.222ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127375 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127375 ms (missed cycles : 2).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.130ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721639 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721639 ms (missed cycles : 2).[0m ×2 + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 18.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590929 ms (missed cycles : 3). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590929 ms (missed cycles : 3).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161388 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161388 ms (missed cycles : 3).[0m ×2 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094146 ms (missed cycles : 3). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094146 ms (missed cycles : 3).[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735966 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735966 ms (missed cycles : 2).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425400 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425400 ms (missed cycles : 3).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198350 ms (missed cycles : 3). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198350 ms (missed cycles : 3).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734923 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734923 ms (missed cycles : 3).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743853 ms (missed cycles : 4). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743853 ms (missed cycles : 4).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499886 ms (missed cycles : 3). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499886 ms (missed cycles : 3).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842013 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842013 ms (missed cycles : 2).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044825 ms (missed cycles : 4). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044825 ms (missed cycles : 4).[0m ×2 + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461533 ms (missed cycles : 4). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461533 ms (missed cycles : 4).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311710 ms (missed cycles : 4). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311710 ms (missed cycles : 4).[0m ×2 + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099017 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099017 ms (missed cycles : 2).[0m ×2 + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614362 ms (missed cycles : 3). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614362 ms (missed cycles : 3).[0m ×2 + 34.85sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359699 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359699 ms (missed cycles : 4).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363485 ms (missed cycles : 4). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363485 ms (missed cycles : 4).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194701 ms (missed cycles : 4). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194701 ms (missed cycles : 4).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830791 ms (missed cycles : 3). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830791 ms (missed cycles : 3).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552127 ms (missed cycles : 3). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552127 ms (missed cycles : 3).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448733 ms (missed cycles : 4). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448733 ms (missed cycles : 4).[0m ×2 + 40.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092458 ms (missed cycles : 4). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092458 ms (missed cycles : 4).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567856 ms (missed cycles : 3). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567856 ms (missed cycles : 3).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780617 ms (missed cycles : 3). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780617 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279959 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279959 ms (missed cycles : 3).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777408 ms (missed cycles : 3). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777408 ms (missed cycles : 3).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3).[0m ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921035 ms (missed cycles : 3). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921035 ms (missed cycles : 3).[0m ×2 + 48.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110470 ms (missed cycles : 4). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110470 ms (missed cycles : 4).[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968489 ms (missed cycles : 2). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968489 ms (missed cycles : 2).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204765 ms (missed cycles : 2). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204765 ms (missed cycles : 2).[0m ×2 + 51.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 52.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158772 ms (missed cycles : 4). + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158772 ms (missed cycles : 4).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884459 ms (missed cycles : 3). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884459 ms (missed cycles : 3).[0m ×2 + 54.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968034 ms (missed cycles : 3). + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968034 ms (missed cycles : 3).[0m ×2 + 55.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491109 ms (missed cycles : 4). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491109 ms (missed cycles : 4).[0m ×2 + 55.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252023 ms (missed cycles : 4). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252023 ms (missed cycles : 4).[0m ×2 + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893406 ms (missed cycles : 3). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893406 ms (missed cycles : 3).[0m ×2 + 58.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631343 ms (missed cycles : 3). + 58.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631343 ms (missed cycles : 3).[0m ×2 + 59.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533131 ms (missed cycles : 4). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533131 ms (missed cycles : 4).[0m ×2 + 60.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787650952.24215484 seconds ×3 + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.740ms + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455301 ms (missed cycles : 3). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455301 ms (missed cycles : 3).[0m ×2 + 61.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787650952.85239530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.54sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 61.76sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346792 ms (missed cycles : 3). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346792 ms (missed cycles : 3).[0m ×2 + 62.60sWARNglobal_costmap.global_costmapSensor origin at (3.66, -3.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.60sWARNglobal_costmap.global_costmapSensor origin at (3.39, -4.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983405 ms (missed cycles : 2). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983405 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 141 warnings · 266 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202980 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202980 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984524 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984524 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069129 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069129 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271070 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271070 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675050 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675050 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615487 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615487 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044332 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044332 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628781 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628781 ms (missed cycles : 3).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514741 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514741 ms (missed cycles : 3).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014341 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014341 ms (missed cycles : 2).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828440 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828440 ms (missed cycles : 3).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134844 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134844 ms (missed cycles : 2).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571691 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571691 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.607ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028711 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028711 ms (missed cycles : 3).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459444 ms (missed cycles : 3). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459444 ms (missed cycles : 3).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937450 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937450 ms (missed cycles : 2).[0m ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164637 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164637 ms (missed cycles : 3).[0m ×2 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900217 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900217 ms (missed cycles : 2).[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032446 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032446 ms (missed cycles : 3).[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059843 ms (missed cycles : 4). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059843 ms (missed cycles : 4).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866426 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866426 ms (missed cycles : 3).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222091 ms (missed cycles : 4). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222091 ms (missed cycles : 4).[0m ×2 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836938 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836938 ms (missed cycles : 2).[0m ×2 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124505 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124505 ms (missed cycles : 2).[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195478 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195478 ms (missed cycles : 2).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509583 ms (missed cycles : 3). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509583 ms (missed cycles : 3).[0m ×2 + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006261 ms (missed cycles : 3). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006261 ms (missed cycles : 3).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196868 ms (missed cycles : 3). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196868 ms (missed cycles : 3).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481767 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481767 ms (missed cycles : 3).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709994 ms (missed cycles : 3). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709994 ms (missed cycles : 3).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219147 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219147 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948367 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948367 ms (missed cycles : 2).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515652 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515652 ms (missed cycles : 3).[0m ×2 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431178 ms (missed cycles : 4). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431178 ms (missed cycles : 4).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3).[0m ×2 + 47.68sINFOjoint_trajectory_controllerGoal reached, success! + 47.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 47.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 48.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 49.46sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 49.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 110 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884933 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884933 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312585 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312585 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634543 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634543 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605092 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605092 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787650713.31221652 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873259 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873259 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787650714.90018153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847561 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847561 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849409 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849409 ms (missed cycles : 2).[0m ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.46sINFOjoint_trajectory_controllerReceived new action goal + 7.46sINFOjoint_trajectory_controllerAccepted new action goal + 7.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564937 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564937 ms (missed cycles : 3).[0m ×2 + 8.57sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945627 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945627 ms (missed cycles : 3).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505553 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505553 ms (missed cycles : 3).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.845ms + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.753ms + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.158ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622380 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622380 ms (missed cycles : 3).[0m ×2 + 11.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.587ms + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.106ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971267 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971267 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.788ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526371 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526371 ms (missed cycles : 3).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 13.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.114ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406571 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406571 ms (missed cycles : 4).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 4.524ms + 14.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.915ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724384 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724384 ms (missed cycles : 3).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms ×2 + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025874 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025874 ms (missed cycles : 3).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062922 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062922 ms (missed cycles : 2).[0m ×2 + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182556 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182556 ms (missed cycles : 2).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801502 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801502 ms (missed cycles : 3).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830370 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830370 ms (missed cycles : 2).[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653922 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653922 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085080 ms (missed cycles : 4). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085080 ms (missed cycles : 4).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321380 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321380 ms (missed cycles : 2).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435167 ms (missed cycles : 4). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435167 ms (missed cycles : 4).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545431 ms (missed cycles : 3). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545431 ms (missed cycles : 3).[0m ×2 + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868708 ms (missed cycles : 3). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868708 ms (missed cycles : 3).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029848 ms (missed cycles : 4). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029848 ms (missed cycles : 4).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888774 ms (missed cycles : 3). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888774 ms (missed cycles : 3).[0m ×2 + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169813 ms (missed cycles : 4). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169813 ms (missed cycles : 4).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2).[0m ×2 + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4).[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5).[0m ×2 + 35.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787650745.91030383 seconds ×3 + 35.98sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.98sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 36.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2).[0m ×2 + 36.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787650746.49804306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.86sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.1s | 85 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252023 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252023 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893406 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893406 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631343 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631343 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533131 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533131 ms (missed cycles : 4).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787650952.24215484 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.740ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455301 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455301 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787650952.85239530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346792 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346792 ms (missed cycles : 3).[0m ×2 + 5.75sWARNglobal_costmap.global_costmapSensor origin at (3.66, -3.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.75sWARNglobal_costmap.global_costmapSensor origin at (3.39, -4.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983405 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983405 ms (missed cycles : 2).[0m ×2 + 6.75sWARNglobal_costmap.global_costmapSensor origin at (3.65, -3.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.75sWARNglobal_costmap.global_costmapSensor origin at (3.40, -4.74) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495066 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495066 ms (missed cycles : 4).[0m ×2 + 7.75sWARNglobal_costmap.global_costmapSensor origin at (3.65, -3.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 7.75sWARNglobal_costmap.global_costmapSensor origin at (3.40, -4.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×6 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452023 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452023 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886757 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886757 ms (missed cycles : 3).[0m ×2 + 9.75sWARNglobal_costmap.global_costmapSensor origin at (3.64, -3.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 10.03sINFOros2_control_nodeMuJoCo sim: 2.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369516 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369516 ms (missed cycles : 4).[0m ×2 + 10.62sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 10.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.79sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 10.87sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.91sINFOobjective_server_nodeFound path in 0 iterations (4.92e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 11.56sINFOobjective_server_nodeFound path in 146 iterations (0.0987076 s). ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859569 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859569 ms (missed cycles : 2).[0m ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 12.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.79sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470140 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470140 ms (missed cycles : 4).[0m ×2 + 13.75sWARNglobal_costmap.global_costmapSensor origin at (3.66, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.75sWARNglobal_costmap.global_costmapSensor origin at (3.41, -4.68) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435687 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435687 ms (missed cycles : 3).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 14.75sWARNglobal_costmap.global_costmapSensor origin at (3.73, -3.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.75sWARNglobal_costmap.global_costmapSensor origin at (3.48, -4.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.435ms + 15.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 18.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787650967.36924100 seconds ×3 + 18.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.314ms + 19.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.260ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3).[0m ×2 + 19.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650967.99207592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.42sINFOmove_groupClearing octomap...[0m ×2 + 19.42sINFOmove_groupOctomap cleared.[0m ×2 + 20.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650968.62223005 seconds ×3 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2).[0m ×2 + 20.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650969.20588136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3).[0m ×2 + 21.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650969.87601495 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 94 errors · 33 warnings · 432 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787650967.36924100 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.314ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.260ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650967.99207592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.49sINFOmove_groupClearing octomap...[0m ×2 + 3.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650968.62223005 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650969.20588136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650969.87601495 seconds ×3 + 5.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072358 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072358 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401623 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401623 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982200 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982200 ms (missed cycles : 2).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660809 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660809 ms (missed cycles : 3).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838721 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838721 ms (missed cycles : 3).[0m ×2 + 10.98sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.01sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORweb_video_auth_proxy-35process has died [pid 9526, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.02sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.05sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_bridge_auth_proxy-34process has died [pid 9525, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.05sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.16sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.19sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.21sINFOvideo_server-33process has finished cleanly [pid 9523] ×2 + 11.21sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.21sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.23sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.26sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.30sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.33sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.36sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.39sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.43sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.45sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9522] ×2 + 11.46sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.50sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.53sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.53sINFOcontroller_managerShutdown request received.... + 11.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down the controller manager. + 11.56sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.56sERRORmove_group-21process has died [pid 9508, 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_09vwhwon --params-file /tmp/launch_params_lqijqbto --params-file /tmp/launch_params_64ioleid --params-file /tmp/launch_params_se9e4n8p --params-file /tmp/launch_params_xrl09yuo --params-file /tmp/launch_params_p07oplgl']. ×2 + 11.56sINFOui_teleop_bridge-30process has finished cleanly [pid 9520] ×2 + 11.56sINFOcomponent_container_mt-28process has finished cleanly [pid 9518] ×2 + 11.57sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787650975.790 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.58sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.61sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.61sINFOexecute_objective_bridge-29process has finished cleanly [pid 9519] ×2 + 11.63sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.65sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.68sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.70sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.70sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.70sINFOmap_serverDeactivating + 11.70sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.71sINFOmap_serverCleaning up + 11.71sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.71sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.72sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.72sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.72sINFOcontroller_serverDeactivating + 11.72sINFOlocal_costmap.local_costmapDeactivating + 11.72sINFOvideo_server2026/08/25 09:42:55 INF shutting down gracefully ×2 + 11.72sINFOvideo_server2026/08/25 09:42:55 INF [WebRTC] closing ×2 + 11.72sINFOvideo_server2026/08/25 09:42:55 INF [RTSP] closing ×2 + 11.72sINFOvideo_server2026/08/25 09:42:55 INF waiting for running hooks ×2 + 11.72sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.73sERRORamclThe bond connection to the lifecycle manager has been broken + 11.73sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.73sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.73sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.74sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.74sERRORmove_groupStack trace (most recent call last) in thread 10128: ×2 + 11.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a2acfaa63, in __clone ×2 + 11.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a2ac6daa3, in ×2 + 11.74sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a2aeffdb3, in ×2 + 11.74sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f5a2b670a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a2b291620, in rclcpp::Rate::sleep() ×2 + 11.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a2b1d3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5a2b195087, in ×2 + 11.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a2aece390, in __cxa_throw ×2 + 11.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a2aeb8a54, in std::terminate() ×2 + 11.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a2aece0d9, in ×2 + 11.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5a2aeb8ff4, in ×2 + 11.74sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a2abf98fe, in abort ×2 + 11.74sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a2ac1627d, in raise ×2 + 11.74sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5a2ac6fb2c, in pthread_kill ×2 + 11.74sERRORmove_groupAborted (Signal sent by tkill() 9508 0) ×2 + 11.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.74sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.74sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.74sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.74sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.74sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.75sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.75sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.75sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.75sINFOodom_qos_relay.pymain() ×2 + 11.75sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.75sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.75sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.75sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.75sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.75sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.75sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.75sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.75sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.76sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.76sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.76sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.81sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.82sINFOcontroller_serverCleaning up + 11.82sINFOlocal_costmap.local_costmapCleaning up + 11.86sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.86sINFOsmoother_serverDeactivating + 11.86sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.87sINFOsmoother_serverCleaning up + 11.88sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.88sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.88sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.88sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.88sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.88sINFOvelocity_smootherDeactivating + 11.88sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.88sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.88sINFOplanner_serverDeactivating + 11.88sINFOglobal_costmap.global_costmapDeactivating + 11.93sERRORcomponent_container_isolated-2process has died [pid 9394, 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_yp3y503d --params-file /tmp/launch_params_lt4o16p9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.99sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.99sINFOwaypoint_followerDeactivating + 11.99sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.10sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.10sINFObt_navigatorDeactivating + 12.10sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.22sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.22sINFObehavior_serverDeactivating + 12.22sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.33sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.33sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.33sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.33sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.33sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.33sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.33sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.33sINFOvelocity_smootherCleaning up + 12.34sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.34sINFOwaypoint_followerCleaning up + 12.37sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.37sINFObt_navigatorCleaning up + 12.42sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9512] ×2 + 12.45sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9511] ×2 + 12.52sINFOwaypoint_manager_node-23process has finished cleanly [pid 9510] ×2 + 12.52sINFOcomponent_container_mt-27process has finished cleanly [pid 9517] ×2 + 12.53sINFOparameter_manager_node-22process has finished cleanly [pid 9509] ×2 + 12.54sINFOobjective_server_node[2026-08-25 09:42:57.056] [moveit_pro_license] [critical] ×2 + 12.54sINFOobjective_server_node************************************************* ×4 + 12.54sINFOobjective_server_node* MoveIt Pro License ×2 + 12.54sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.54sINFObt_navigatorCompleted Cleaning up + 12.54sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.54sINFObehavior_serverCleaning up + 12.60sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9400] ×2 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.60sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.60sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.60sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.60sINFOobjective_server_node_main-26process has finished cleanly [pid 9515] ×2 + 12.60sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.63sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9399] ×2 + 12.69sINFOstatic_transform_publisher-4process has finished cleanly [pid 9396] ×2 + 12.72sINFOstatic_transform_publisher-3process has finished cleanly [pid 9395] ×2 + 12.73sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9398] ×2 + 12.74sERRORodom_qos_relay.py-5process has died [pid 9397, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.83sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.83sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.84sINFOplanner_serverCleaning up + 12.85sINFOglobal_costmap.global_costmapCleaning up + 12.86sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.86sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.89sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.89sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.89sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.89sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.89sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.21sERRORcomponent_container_isolated-1process has died [pid 9393, 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_yp3y503d --params-file /tmp/launch_params_c14alvz4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.85sINFOweb_bridge-31process has finished cleanly [pid 9521] ×2 + 13.85sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.27sINFOros2_control_node-9process has finished cleanly [pid 9401] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 52 warnings · 113 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088723 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088723 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908389 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908389 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314484 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314484 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787650803.39819193 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.461ms + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.59, 9.67) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 10.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.628ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787650803.98546529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897285 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897285 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778956 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778956 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118459 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118459 ms (missed cycles : 2).[0m ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.25sINFOjoint_trajectory_controllerReceived new action goal + 7.25sINFOjoint_trajectory_controllerAccepted new action goal + 7.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450450 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450450 ms (missed cycles : 4).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.802ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770718 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770718 ms (missed cycles : 2).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.735ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.698ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374136 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374136 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.789ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198717 ms (missed cycles : 4). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198717 ms (missed cycles : 4).[0m ×2 + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.324ms + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.215ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643297 ms (missed cycles : 4). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643297 ms (missed cycles : 4).[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.806ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517929 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517929 ms (missed cycles : 4).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.528ms + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.045ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697983 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697983 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.903ms + 14.75sINFOobjective_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 + 14.75sINFOjoint_trajectory_controllerGot request to cancel goal + 14.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.75sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.76sERRORobjective_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: 1787650814.16830826 seconds ×3 + 14.81sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.81sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.641ms + 15.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787650814.75535917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518745 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518745 ms (missed cycles : 3).[0m ×2 + 15.79sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568208 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568208 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 44 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884933 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884933 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312585 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312585 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634543 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634543 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605092 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605092 ms (missed cycles : 2).[0m ×2 + 10.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787650713.31221652 seconds ×3 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873259 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873259 ms (missed cycles : 3).[0m ×2 + 12.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787650714.90018153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847561 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847561 ms (missed cycles : 3).[0m ×2 + 12.59sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849409 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849409 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 43 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475962 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475962 ms (missed cycles : 4).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152206 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152206 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979238 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979238 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267390 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267390 ms (missed cycles : 5).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 4.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787650888.64558315 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891983 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891983 ms (missed cycles : 2).[0m ×2 + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.58) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.640ms + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 5.37) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 5.20) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.179ms + 4.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787650889.23929977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903743 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903743 ms (missed cycles : 2).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930077 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930077 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 10.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 11.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.52sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 4.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787650649.79877472 seconds ×3 + 8.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787650650.39112401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2).[0m ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 26 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 0.13sWARNglobal_costmap.global_costmapSensor origin at (3.73, -3.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.13sWARNglobal_costmap.global_costmapSensor origin at (3.48, -4.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.435ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787650967.36924100 seconds ×3 + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.314ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.260ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650967.99207592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.79sINFOmove_groupClearing octomap...[0m ×2 + 4.79sINFOmove_groupOctomap cleared.[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650968.62223005 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650969.20588136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650969.87601495 seconds ×3 + 6.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072358 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072358 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 4.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932125 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301533 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081141 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558524 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 4.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 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 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480976 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805143 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932822 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156299 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787650706.98124766 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785737 ms (missed cycles : 3).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_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. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.193ms + 4.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787650707.59207201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231292 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787650745.91030383 seconds ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787650746.49804306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787650745.91030383 seconds ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787650746.49804306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854849 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343679 ms (missed cycles : 5).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081240 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103840 ms (missed cycles : 5).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787650745.91030383 seconds ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192132 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787650746.49804306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903322 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522667 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 93 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787650646.29811907 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616796 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.33sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.403ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787650646.88862944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406106 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (3.4015e-05 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sINFOjoint_trajectory_controllerReceived new action goal + 1.81sINFOjoint_trajectory_controllerAccepted new action goal + 1.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694858 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941058 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787650649.79877472 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787650650.39112401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820327 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123899 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740796 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497774 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282299 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630013 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787650895.17945337 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787650895.76948237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705838 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 23 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 0.13sWARNglobal_costmap.global_costmapSensor origin at (3.73, -3.57) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.13sWARNglobal_costmap.global_costmapSensor origin at (3.48, -4.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176833 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.435ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104556 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987230 ms (missed cycles : 3).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816816 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787650967.36924100 seconds ×3 + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.314ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.260ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503077 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787650967.99207592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.79sINFOmove_groupClearing octomap...[0m ×2 + 4.79sINFOmove_groupOctomap cleared.[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787650968.62223005 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706426 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787650969.20588136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835004 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787650969.87601495 seconds ×3 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 7.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.51sINFOjoint_trajectory_controllerReceived new action goal + 7.51sINFOjoint_trajectory_controllerAccepted new action goal + 7.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[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 3.878063 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878063 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.56sINFOmove_groupClearing octomap...[0m ×2 + 4.56sINFOmove_groupOctomap cleared.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878063 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878063 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.56sINFOmove_groupClearing octomap...[0m ×2 + 4.56sINFOmove_groupOctomap cleared.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[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 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352918 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 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 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284336 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572341 ms (missed cycles : 3).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410276 ms (missed cycles : 3).[0m ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110977 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787650600.78333759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.47sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787650600.79352021 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787650601.38079858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787650601.39099884 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787650601.96436071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787650602.11513710 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787650602.73715258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787650602.78733420 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833703 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787650603.37154102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937760 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||