MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.0s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	31.8s	12 errors · 307 warnings · 1410 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/2026-08-27-09-49-19-104045-753c7d7c1d74-9629 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.58sINFOstatic_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' + 13.58sINFOstatic_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' + 13.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.72sINFOcontroller_managerupdate rate is 600 Hz + 13.72sINFOcontroller_managerOverruns handling is : enabled + 13.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.72sWARNcontroller_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. + 13.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.77sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074838 ms (missed cycles : 8). + 13.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.81sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.85sINFOcontroller_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. + 13.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.88sINFOcontroller_serverCreating controller server + 13.91sINFOros2_control_node-9process started with pid [9687] ×2 + 13.91sINFOmove_group-21process started with pid [9776] ×2 + 13.91sINFOparameter_manager_node-22process started with pid [9777] ×2 + 13.91sINFOwaypoint_manager_node-23process started with pid [9778] ×2 + 13.92sINFOmove_joint_resampler_node-24process started with pid [9797] ×2 + 13.92sINFOmove_end_effector_resampler_node-25process started with pid [9798] ×2 + 13.92sINFOobjective_server_node_main-26process started with pid [9799] ×2 + 13.92sINFOcomponent_container_mt-27process started with pid [9800] ×2 + 13.92sINFOcomponent_container_mt-28process started with pid [9801] ×2 + 13.92sINFOexecute_objective_bridge-29process started with pid [9803] ×2 + 13.92sINFOui_teleop_bridge-30process started with pid [9809] ×2 + 13.92sINFOweb_bridge-31process started with pid [9816] ×2 + 13.92sINFOtf2_web_republisher_node-32process started with pid [9819] ×2 + 13.92sINFOvideo_server-33process started with pid [9824] ×2 + 13.92sINFOweb_bridge_auth_proxy-34process started with pid [9825] ×2 + 13.92sINFOweb_video_auth_proxy-35process started with pid [9829] ×2 + 13.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.93sINFOlocal_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. + 13.93sINFOcomponent_container_isolated-1process started with pid [9679] ×2 + 13.94sINFOlocal_costmap.local_costmapCreating Costmap + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.95sINFOcomponent_container_isolated-2process started with pid [9680] ×2 + 13.95sINFOstatic_transform_publisher-3process started with pid [9681] ×2 + 13.95sINFOstatic_transform_publisher-4process started with pid [9682] ×2 + 13.95sINFOodom_qos_relay.py-5process started with pid [9683] ×2 + 13.95sINFOforward_stereo_publisher.py-6process started with pid [9684] ×2 + 13.95sINFOscan_to_scan_filter_chain-7process started with pid [9685] ×2 + 13.95sINFOscan_to_scan_filter_chain-8process started with pid [9686] ×2 + 13.95sINFOros2-10process started with pid [9765] ×2 + 13.95sINFOros2-11process started with pid [9766] ×2 + 13.95sINFOros2-12process started with pid [9767] ×2 + 13.95sINFOros2-13process started with pid [9768] ×2 + 13.95sINFOros2-14process started with pid [9769] ×2 + 13.95sINFOros2-15process started with pid [9770] ×2 + 13.95sINFOros2-16process started with pid [9771] ×2 + 13.95sINFOros2-17process started with pid [9772] ×2 + 13.95sINFOros2-18process started with pid [9773] ×2 + 13.95sINFOros2-19process started with pid [9774] ×2 + 13.95sINFOros2-20process started with pid [9775] ×2 + 13.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.01sINFOsmoother_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. + 14.03sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.04sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.04sINFOmap_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. + 14.04sINFOmap_serverCreating + 14.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.06sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.07sINFOsmoother_serverCreating smoother server + 14.07sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.07sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.09sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.09sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.09sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.09sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.09sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.09sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.10sWARNros2_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 + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074838 ms (missed cycles : 8).[0m ×2 + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.11sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.16sINFOplanner_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. + 14.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.17sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.20sINFOlifecycle_manager_localizationCreating + 14.21sINFOplanner_serverCreating + 14.22sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.22sINFOrobot_state_publisherRobot initialized + 14.22sINFOcontroller_managerReceived robot description from topic. + 14.22sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.23sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.23sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.23sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.23sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.23sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.23sINFOmap_serverConfiguring + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.24sINFOglobal_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. + 14.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.27sINFOglobal_costmap.global_costmapCreating Costmap + 14.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.28sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.35sINFObehavior_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. + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.38sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.42sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.42sINFOamclConfiguring + 14.43sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.43sINFOmap_serverActivating + 14.43sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.47sINFObt_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. + 14.50sINFObt_navigatorCreating + 14.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.54sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.54sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.54sINFOamclActivating + 14.54sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.54sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.55sINFOamclSubscribed to map_topic: /map + 14.55sINFOamclSubscribed to scan_topic: /scan_merged + 14.55sINFOamclCreated reinitialize_global_localization service + 14.56sINFOamclCreated request_nomotion_update service + 14.56sINFOamclA new map was received + 14.57sINFOamclInitializing particle filter instance + 14.58sINFOwaypoint_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. + 14.58sINFOwaypoint_followerCreating + 14.59sWARNlaser_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. + 14.59sWARNlaser_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. + 14.59sWARNscan_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 + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.63sINFOvelocity_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. + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.68sINFOlifecycle_manager_navigationCreating + 14.70sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.511568 seconds + 14.70sINFOmove_groupLoaded robot model in 0.511568 seconds[0m ×2 + 14.70sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.70sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.70sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.70sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.70sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.73sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.73sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.73sINFOcontroller_serverConfiguring controller interface + 14.73sINFOcontroller_servergetting progress checker plugins.. + 14.73sINFOcontroller_servergetting goal checker plugins.. + 14.73sINFOcontroller_serverController frequency set to 20.0000Hz + 14.73sINFOlocal_costmap.local_costmapConfiguring + 14.74sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.76sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.78sINFOvideo_server2026/08/27 09:49:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.78sINFOvideo_server2026/08/27 09:49:37 INF configuration loaded from /tmp/moveit-webrtc-ky7bgk3c/mediamtx.yml ×2 + 14.78sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.78sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.78sINFOvideo_server2026/08/27 09:49:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.78sINFOvideo_server2026/08/27 09:49:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.79sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.82sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.83sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.83sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.83sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.83sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892425 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892425 ms (missed cycles : 5).[0m ×2 + 14.86sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.87sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.87sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.88sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.88sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.88sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.89sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.90sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.92sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.92sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.92sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.92sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.93sINFOcontroller_serverOptimizer reset ×2 + 14.95sINFOcontroller_serverController Server has FollowPath controllers available. + 14.97sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.97sINFOsmoother_serverConfiguring smoother server + 14.99sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.00sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.01sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.01sINFOplanner_serverConfiguring + 15.01sINFOglobal_costmap.global_costmapConfiguring + 15.02sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.02sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.02sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.02sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.03sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.04sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.05sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.05sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.08sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.08sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.08sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.09sINFOplanner_serverPlanner Server has GridBased planners available. + 15.11sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.11sINFObehavior_serverConfiguring + 15.12sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.13sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.14sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.14sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.15sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.16sINFObehavior_serverConfiguring spin + 15.18sINFObehavior_serverConfiguring backup + 15.19sINFObehavior_serverConfiguring drive_on_heading + 15.20sINFObehavior_serverConfiguring assisted_teleop + 15.22sINFObehavior_serverConfiguring wait + 15.23sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.23sINFObt_navigatorConfiguring + 15.24sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.25sWARNbt_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 + 15.27sINFOamclParticle filter initialization completed + 15.27sINFOamclInitializing particles from estimated pose and covariance + 15.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.35sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.35sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.35sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.37sINFOwaypoint_manager_nodeLoaded robot model in 0.232249 seconds[0m ×2 + 15.37sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.37sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.38sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.54sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.62sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.62sINFOwaypoint_followerConfiguring + 15.66sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.66sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.66sINFOvelocity_smootherConfiguring velocity smoother + 15.68sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.68sINFOcontroller_serverActivating + 15.68sINFOlocal_costmap.local_costmapActivating + 15.68sINFOlocal_costmap.local_costmapChecking transform + 15.68sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×11 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282521 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282521 ms (missed cycles : 2).[0m ×2 + 16.12sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.13sWARNmove_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. + 16.13sWARNmove_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. + 16.13sWARNmove_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 + 16.13sWARNmove_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. + 16.13sWARNmove_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 + 16.13sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.16sWARNmove_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 + 16.16sWARNmove_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 + 16.16sWARNmove_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 + 16.16sWARNmove_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 + 16.16sWARNmove_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 + 16.16sWARNmove_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 + 16.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.30sWARNwaypoint_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. + 16.30sWARNwaypoint_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 + 16.31sWARNwaypoint_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. + 16.31sWARNwaypoint_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. + 16.31sWARNwaypoint_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. + 16.31sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.31sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.31sWARNwaypoint_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. + 16.31sWARNwaypoint_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. + 16.31sWARNwaypoint_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 + 16.32sWARNwaypoint_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. + 16.32sWARNwaypoint_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 + 16.32sWARNwaypoint_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. + 16.32sWARNwaypoint_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. + 16.32sWARNwaypoint_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 + 16.32sWARNwaypoint_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. + 16.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.33sWARNwaypoint_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. + 16.33sWARNwaypoint_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. + 16.33sWARNwaypoint_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. + 16.33sWARNwaypoint_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. + 16.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.34sWARNwaypoint_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. + 16.34sWARNwaypoint_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. + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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. + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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 + 16.34sWARNwaypoint_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. + 16.35sWARNwaypoint_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. + 16.35sWARNwaypoint_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. + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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. + 16.36sWARNwaypoint_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. + 16.36sWARNwaypoint_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. + 16.36sWARNwaypoint_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. + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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. + 16.36sWARNwaypoint_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. + 16.37sWARNwaypoint_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. + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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. + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.38sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.40sINFOros2_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 + 16.40sINFOros2_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 + 16.58sINFOmove_group[2026-08-27 09:49:39.007] [moveit_pro_license] [info] ×2 + 16.58sINFOmove_group************************************************* ×4 + 16.58sINFOmove_group* MoveIt Pro License ×2 + 16.58sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.79sINFOwaypoint_manager_node[2026-08-27 09:49:39.216] [moveit_pro_license] [info] ×2 + 16.79sINFOwaypoint_manager_node************************************************* ×4 + 16.79sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.79sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.10sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.10sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.10sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.10sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.10sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.10sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.11sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.11sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.11sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.11sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.11sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.17sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.17sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.17sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.45sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.45sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.45sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.45sWARNros2_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 + 17.45sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.45sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.45sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.45sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.45sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.45sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.45sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.45sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.45sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.45sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.45sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.45sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.45sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.45sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.45sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.45sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.45sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.45sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.45sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.46sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.46sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.46sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160781 ms (missed cycles : 2). + 17.46sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.46sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.46sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.46sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.46sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.46sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.46sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.46sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160781 ms (missed cycles : 2).[0m ×2 + 17.47sINFOobjective_server_node[2026-08-27 09:49:39.894] [moveit_pro_license] [info] ×2 + 17.47sINFOobjective_server_node************************************************* ×4 + 17.47sINFOobjective_server_node* MoveIt Pro License ×2 + 17.47sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.55sINFOobjective_server_nodeLoaded robot model in 0.0308556 seconds[0m ×2 + 17.55sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.55sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.63sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.67sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.67sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.67sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.67sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.67sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 17.67sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 17.70sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.70sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.70sINFOros2_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 + 17.70sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.70sWARNros2_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 + 17.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.71sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.71sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.71sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.86sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.86sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.89sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.89sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.89sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.89sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 17.89sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.89sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 17.89sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.94sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 17.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.97sWARNobjective_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. + 17.97sWARNobjective_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. + 17.97sWARNobjective_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 + 17.97sWARNobjective_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. + 17.97sWARNobjective_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. + 17.97sWARNobjective_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 + 17.97sWARNobjective_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 + 17.97sWARNobjective_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. + 17.97sWARNobjective_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. + 17.97sWARNobjective_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 + 17.97sWARNobjective_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 + 17.97sWARNobjective_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 + 17.98sWARNobjective_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. + 17.98sWARNobjective_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. + 17.98sWARNobjective_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 + 17.98sWARNobjective_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 + 17.98sWARNobjective_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. + 17.98sWARNobjective_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 + 17.98sWARNobjective_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. + 17.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.09sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.09sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.09sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 18.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 18.11sINFOros2-11process has finished cleanly [pid 9766] ×2 + 18.12sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.12sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.17sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.17sINFOcomponent_container_mtLoaded robot model in 0.235903 seconds[0m ×2 + 18.17sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.17sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.20sINFOstreaming_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) + 18.20sINFOcomponent_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 + 18.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.21sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.22sINFOplatform_velocity_controllerconfigure successful + 18.22sINFOros2_control_nodeconfigure successful[0m ×6 + 18.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816301 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816301 ms (missed cycles : 2).[0m ×2 + 18.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.56sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.56sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.56sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.56sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.56sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.56sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.58sINFOros2-13process has finished cleanly [pid 9768] ×2 + 18.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.61sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.69sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787824179.995 for reason 'discarding message because the queue is full' + 18.69sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 18.69sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 18.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.83sINFOcomponent_container_mt[2026-08-27 09:49:41.260] [moveit_pro_license] [info] ×2 + 18.83sINFOcomponent_container_mt************************************************* ×4 + 18.83sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.83sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.99sINFOmove_groupMoveGroup debug mode is ON + 18.99sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.04sINFOmove_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 + 19.05sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.09sINFOros2_control_node[2026-08-27 09:49:41.513] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.09sINFOros2_control_node[2026-08-27 09:49:41.516] [info] Controller state will be published at 10 Hz. ×2 + 19.09sINFOros2_control_node[2026-08-27 09:49:41.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.14sINFOmove_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 ****************************************************** + 19.14sINFOmove_group ×8 + 19.15sINFOmove_group****************************************************** ×4 + 19.15sINFOmove_group* MoveGroup using: ×2 + 19.15sINFOmove_group* - apply_planning_scene_service ×2 + 19.15sINFOmove_group* - clear_octomap_service ×2 + 19.15sINFOmove_group* - get_group_urdf ×2 + 19.15sINFOmove_group* - load_geometry_from_file ×2 + 19.15sINFOmove_group* - get_planning_scene_service ×2 + 19.15sINFOmove_group* - kinematics_service ×2 + 19.15sINFOmove_group* - save_geometry_to_file ×2 + 19.15sINFOmove_group* - GetPlanningGroups ×2 + 19.15sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.15sINFOmove_group[0m ×2 + 19.15sINFOmove_group[92mYou can start planning now![0m ×2 + 19.31sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.31sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 19.44sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.44sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 19.46sINFOros2-17process has finished cleanly [pid 9772] ×2 + 19.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.50sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.50sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.51sWARNros2_control_nodeCamera render tick took 0.77 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550830 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550830 ms (missed cycles : 2).[0m ×2 + 19.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.79sINFOros2_control_node[2026-08-27 09:49:42.218] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.80sINFOros2_control_node[2026-08-27 09:49:42.220] [info] Controller state will be published at 10 Hz. ×2 + 19.80sINFOros2_control_node[2026-08-27 09:49:42.221] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 20.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 20.14sINFOros2-18process has finished cleanly [pid 9773] ×2 + 20.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.22sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.22sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.22sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.22sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.22sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.50sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.50sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 20.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.50sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 20.52sINFOros2-16process has finished cleanly [pid 9771] ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237074 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237074 ms (missed cycles : 2).[0m ×2 + 20.58sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.58sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.58sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.58sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.58sINFOplatform_velocity_controller_nav2configure successful + 20.89sINFOros2-15process has finished cleanly [pid 9770] ×2 + 20.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 20.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 20.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 20.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 20.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 20.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 20.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 20.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 20.98sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 20.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 20.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 20.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.18sINFOlocal_costmap.local_costmapstart + 21.19sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.578ms + 21.28sWARNcontroller_serverParameter controller_server.verbose not found + 21.28sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 21.29sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787824182.595 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.34sINFOros2-12process has finished cleanly [pid 9767] ×2 + 21.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.39sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 21.39sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 21.39sINFOsmoother_serverActivating + 21.39sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 21.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 21.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 21.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.50sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 21.50sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 21.50sINFOplanner_serverActivating + 21.50sINFOglobal_costmap.global_costmapActivating + 21.50sINFOglobal_costmap.global_costmapChecking transform + 21.50sINFOglobal_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 1787824183.883955 but the earliest data is at time 1787824184.494807, when looking up transform from frame [ridgeback_base_link] to frame [map] + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257008 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257008 ms (missed cycles : 3).[0m ×2 + 21.90sINFOros2_control_node[2026-08-27 09:49:44.325] [info] Controller state will be published at 20 Hz. ×2 + 21.90sINFOros2_control_node[2026-08-27 09:49:44.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.00sINFOglobal_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 1787824184.399892 but the earliest data is at time 1787824184.494807, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.26sINFOros2-19process has finished cleanly [pid 9774] ×2 + 22.34sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.34sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.34sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 22.34sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.34sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.34sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 22.40sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.40sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.40sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.40sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.50sINFOglobal_costmap.global_costmapstart + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948930 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948930 ms (missed cycles : 2).[0m ×2 + 22.79sINFOros2_control_node[2026-08-27 09:49:45.216] [info] Controller state will be published at 20 Hz. ×2 + 22.79sINFOros2_control_node[2026-08-27 09:49:45.217] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.13sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.13sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.13sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.13sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.14sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 23.14sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 23.15sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.16sINFOros2-20process has finished cleanly [pid 9775] ×2 + 23.20sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.21sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.22sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.22sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 23.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 23.57sINFOros2-14process has finished cleanly [pid 9769] ×2 + 23.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx + 23.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_14n2w0q7 --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_1au78a3n --params-file /tmp/launch_params_9jcyaqpx [0m ×2 + 23.65sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.65sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 23.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 23.66sINFObehavior_serverActivating + 23.66sINFObehavior_serverActivating spin + 23.66sINFObehavior_serverActivating backup + 23.66sINFObehavior_serverActivating drive_on_heading + 23.66sINFObehavior_serverActivating assisted_teleop + 23.66sINFObehavior_serverActivating wait + 23.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 23.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.67sINFOforce_torque_sensor_broadcasterconfigure successful + 23.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 23.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 23.76sINFObt_navigatorActivating + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929150 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929150 ms (missed cycles : 2).[0m ×2 + 23.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 23.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.94sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 23.94sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 23.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.94sINFOwaypoint_followerActivating + 23.94sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 23.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.99sINFOros2-10process has finished cleanly [pid 9765] ×2 + 24.04sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 24.04sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 24.04sINFOvelocity_smootherActivating + 24.04sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 24.15sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 24.15sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 24.15sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684160 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684160 ms (missed cycles : 3).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 27.49sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 29.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.12sINFOmove_groupClearing octomap...[0m ×2 + 29.12sINFOmove_groupOctomap cleared.[0m ×2 + 29.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 29.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 30.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 31.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.11sINFOobjective_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 + 31.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.7s	3 errors · 227 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558292 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558292 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.401ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477071 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477071 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.459ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299698 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299698 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.696ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.539ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085668 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085668 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 4.01sINFOobjective_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 + 4.02sINFOjoint_trajectory_controllerGot request to cancel goal + 4.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sERRORobjective_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: 1787824405.06850839 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.949ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.926ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787824405.65206313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535378 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535378 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809748 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809748 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105716 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105716 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.37sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.38sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.38sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.38sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955966 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955966 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605046 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605046 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.068ms + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672230 ms (missed cycles : 3). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672230 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.521ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714007 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714007 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.661ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.663ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539109 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539109 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.939ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.667ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728499 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728499 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.981ms + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.752ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118793 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118793 ms (missed cycles : 3).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 6.216ms + 15.09sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 5.446ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488032 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488032 ms (missed cycles : 3).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 5.371ms + 16.09sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.206ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094561 ms (missed cycles : 4). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094561 ms (missed cycles : 4).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.485ms + 17.09sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.095ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538806 ms (missed cycles : 3). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538806 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.721ms + 18.09sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.959ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011221 ms (missed cycles : 4). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011221 ms (missed cycles : 4).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.307ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872236 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872236 ms (missed cycles : 3).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473397 ms (missed cycles : 4). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473397 ms (missed cycles : 4).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185903 ms (missed cycles : 2). + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185903 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034234 ms (missed cycles : 2). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034234 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021172 ms (missed cycles : 3). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021172 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079440 ms (missed cycles : 2). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079440 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454059 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454059 ms (missed cycles : 2).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058964 ms (missed cycles : 3). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058964 ms (missed cycles : 3).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549457 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549457 ms (missed cycles : 4).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 28.91sINFOros2_control_nodeMuJoCo sim: 2.87% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792877 ms (missed cycles : 3). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792877 ms (missed cycles : 3).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729215 ms (missed cycles : 4). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729215 ms (missed cycles : 4).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224885 ms (missed cycles : 4). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224885 ms (missed cycles : 4).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860313 ms (missed cycles : 2). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860313 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760502 ms (missed cycles : 4). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760502 ms (missed cycles : 4).[0m ×2 + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms ×2 + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms ×2 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442373 ms (missed cycles : 3). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442373 ms (missed cycles : 3).[0m ×2 + 35.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923733 ms (missed cycles : 4). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923733 ms (missed cycles : 4).[0m ×2 + 35.76sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.76sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.00sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451404 ms (missed cycles : 4). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451404 ms (missed cycles : 4).[0m ×2 + 36.71sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421032 ms (missed cycles : 4). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421032 ms (missed cycles : 4).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790036 ms (missed cycles : 3). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790036 ms (missed cycles : 3).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 39.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993114 ms (missed cycles : 3). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993114 ms (missed cycles : 3).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943682 ms (missed cycles : 3). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943682 ms (missed cycles : 3).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 41.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041952 ms (missed cycles : 3). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041952 ms (missed cycles : 3).[0m ×2 + 42.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292922 ms (missed cycles : 2). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292922 ms (missed cycles : 2).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059809 ms (missed cycles : 3). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059809 ms (missed cycles : 3).[0m ×2 + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3).[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943989 ms (missed cycles : 3). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943989 ms (missed cycles : 3).[0m ×2 + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288022 ms (missed cycles : 4). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288022 ms (missed cycles : 4).[0m ×2 + 48.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261021 ms (missed cycles : 3). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261021 ms (missed cycles : 3).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms ×2 + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044423 ms (missed cycles : 3). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044423 ms (missed cycles : 3).[0m ×2 + 49.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 50.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185573 ms (missed cycles : 4). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185573 ms (missed cycles : 4).[0m ×2 + 51.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009703 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009703 ms (missed cycles : 2).[0m ×2 + 52.23sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 52.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933943 ms (missed cycles : 5). + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933943 ms (missed cycles : 5).[0m ×2 + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858499 ms (missed cycles : 3). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858499 ms (missed cycles : 3).[0m ×2 + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873006 ms (missed cycles : 3). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873006 ms (missed cycles : 3).[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393409 ms (missed cycles : 4). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393409 ms (missed cycles : 4).[0m ×2 + 56.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075286 ms (missed cycles : 4). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075286 ms (missed cycles : 4).[0m ×2 + 57.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 58.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768910 ms (missed cycles : 4). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768910 ms (missed cycles : 4).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722030 ms (missed cycles : 3). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722030 ms (missed cycles : 3).[0m ×2 + 60.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232953 ms (missed cycles : 4). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232953 ms (missed cycles : 4).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×2 + 61.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246344 ms (missed cycles : 4). + 61.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246344 ms (missed cycles : 4).[0m ×2 + 62.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263702 ms (missed cycles : 2). + 62.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263702 ms (missed cycles : 2).[0m ×2 + 63.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 63.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995927 ms (missed cycles : 3). + 63.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995927 ms (missed cycles : 3).[0m ×2 + 64.91sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 64.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985486 ms (missed cycles : 5). + 64.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985486 ms (missed cycles : 5).[0m ×2 + 66.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438076 ms (missed cycles : 3). + 66.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438076 ms (missed cycles : 3).[0m ×2 + 67.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771347 ms (missed cycles : 4). + 67.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771347 ms (missed cycles : 4).[0m ×2 + 68.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259871 ms (missed cycles : 4). + 68.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259871 ms (missed cycles : 4).[0m ×2 + 69.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966933 ms (missed cycles : 4). + 69.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966933 ms (missed cycles : 4).[0m ×2 + 70.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713169 ms (missed cycles : 3). + 70.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713169 ms (missed cycles : 3).[0m ×2 + 70.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 71.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274418 ms (missed cycles : 3). + 71.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274418 ms (missed cycles : 3).[0m ×2 + 71.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 72.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109275 ms (missed cycles : 2). + 72.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109275 ms (missed cycles : 2).[0m ×2 + 73.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 73.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036725 ms (missed cycles : 2). + 73.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036725 ms (missed cycles : 2).[0m ×2 + 74.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 74.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593570 ms (missed cycles : 4). + 74.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593570 ms (missed cycles : 4).[0m ×2 + 75.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 75.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 75.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961125 ms (missed cycles : 3). + 75.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961125 ms (missed cycles : 3).[0m ×2 + 76.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384096 ms (missed cycles : 4). + 76.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384096 ms (missed cycles : 4).[0m ×2 + 77.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787824478.75224543 seconds ×3 + 77.88sWARNlocal_costmap.local_costmapSensor origin at (-0.31, 3.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.88sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 3.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.356ms + 78.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.580ms + 78.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394102 ms (missed cycles : 3). + 78.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394102 ms (missed cycles : 3).[0m ×2 + 78.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787824479.33762169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686199 ms (missed cycles : 3). + 79.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686199 ms (missed cycles : 3).[0m ×2 + 80.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 80.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	186 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 0.58sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.58sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.33sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.33sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.33sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.33sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.46sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787824240.68918109 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787824241.27182889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781347 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781347 ms (missed cycles : 3).[0m ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053915 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053915 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550015 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550015 ms (missed cycles : 3).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.922ms + 10.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 11.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187472 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187472 ms (missed cycles : 3).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787248 ms (missed cycles : 4). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787248 ms (missed cycles : 4).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 13.27sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480716 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480716 ms (missed cycles : 3).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273597 ms (missed cycles : 4). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273597 ms (missed cycles : 4).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496647 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496647 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501934 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501934 ms (missed cycles : 4).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608186 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608186 ms (missed cycles : 3).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879334 ms (missed cycles : 3). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879334 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447460 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447460 ms (missed cycles : 3).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675820 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675820 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958196 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958196 ms (missed cycles : 3).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061909 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061909 ms (missed cycles : 2).[0m ×2 + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017283 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017283 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692013 ms (missed cycles : 5). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692013 ms (missed cycles : 5).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604463 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604463 ms (missed cycles : 2).[0m ×2 + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790947 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790947 ms (missed cycles : 2).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781659 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781659 ms (missed cycles : 3).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112221 ms (missed cycles : 4). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112221 ms (missed cycles : 4).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745639 ms (missed cycles : 5). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745639 ms (missed cycles : 5).[0m ×2 + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163682 ms (missed cycles : 2). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163682 ms (missed cycles : 2).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389685 ms (missed cycles : 4). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389685 ms (missed cycles : 4).[0m ×2 + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 33.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288536 ms (missed cycles : 2). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288536 ms (missed cycles : 2).[0m ×2 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 35.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058130 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058130 ms (missed cycles : 3).[0m ×2 + 36.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293164 ms (missed cycles : 3). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293164 ms (missed cycles : 3).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754051 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754051 ms (missed cycles : 2).[0m ×2 + 37.72sWARNros2_control_nodeCamera render tick took 0.99 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 + 37.74sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (1.01 s); wrist_camera (1.01 s). Behaviors waiting on those points topics will time out.[0m ×2 + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191575 ms (missed cycles : 5). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191575 ms (missed cycles : 5).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515727 ms (missed cycles : 3). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515727 ms (missed cycles : 3).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161427 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161427 ms (missed cycles : 3).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845328 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845328 ms (missed cycles : 3).[0m ×2 + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270929 ms (missed cycles : 2). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270929 ms (missed cycles : 2).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850654 ms (missed cycles : 5). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850654 ms (missed cycles : 5).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858602 ms (missed cycles : 4). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858602 ms (missed cycles : 4).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332724 ms (missed cycles : 4). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332724 ms (missed cycles : 4).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806294 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806294 ms (missed cycles : 3).[0m ×2 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858547 ms (missed cycles : 3). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858547 ms (missed cycles : 3).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763166 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763166 ms (missed cycles : 2).[0m ×2 + 50.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376737 ms (missed cycles : 4). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376737 ms (missed cycles : 4).[0m ×2 + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018342 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018342 ms (missed cycles : 2).[0m ×2 + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456063 ms (missed cycles : 3). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456063 ms (missed cycles : 3).[0m ×2 + 53.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967939 ms (missed cycles : 3). + 53.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967939 ms (missed cycles : 3).[0m ×2 + 54.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548414 ms (missed cycles : 4). + 54.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548414 ms (missed cycles : 4).[0m ×2 + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508367 ms (missed cycles : 3). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508367 ms (missed cycles : 3).[0m ×2 + 56.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556252 ms (missed cycles : 4). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556252 ms (missed cycles : 4).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 60.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 61.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 61.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 62.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 62.63sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 63.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 63.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	185 warnings · 172 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868721 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868721 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.60sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.61sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.61sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.61sINFOros2_control_nodeAccepted new action goal[0m ×6 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012212 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012212 ms (missed cycles : 3).[0m ×2 + 8.81sINFOros2_control_nodeMuJoCo sim: 4.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.665ms ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675975 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675975 ms (missed cycles : 3).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.289ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822989 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822989 ms (missed cycles : 3).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.024ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294800 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294800 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.538ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.003ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176084 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176084 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 13.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.726ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876138 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876138 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.491ms + 14.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.963ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789022 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789022 ms (missed cycles : 4).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 6.232ms + 15.69sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.801ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140702 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140702 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 4.512ms + 16.69sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.254ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250789 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250789 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.823ms + 17.68sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.377ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564015 ms (missed cycles : 3). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564015 ms (missed cycles : 3).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.070ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934795 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934795 ms (missed cycles : 2).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983947 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983947 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797926 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797926 ms (missed cycles : 2).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708546 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708546 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704051 ms (missed cycles : 2). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704051 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586002 ms (missed cycles : 3). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586002 ms (missed cycles : 3).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659093 ms (missed cycles : 4). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659093 ms (missed cycles : 4).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890539 ms (missed cycles : 3). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890539 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919839 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919839 ms (missed cycles : 3).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298100 ms (missed cycles : 4). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298100 ms (missed cycles : 4).[0m ×2 + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607271 ms (missed cycles : 3). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607271 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156200 ms (missed cycles : 2). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156200 ms (missed cycles : 2).[0m ×2 + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms ×2 + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419691 ms (missed cycles : 3). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419691 ms (missed cycles : 3).[0m ×2 + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906238 ms (missed cycles : 3). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906238 ms (missed cycles : 3).[0m ×2 + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369550 ms (missed cycles : 4). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369550 ms (missed cycles : 4).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154059 ms (missed cycles : 5). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154059 ms (missed cycles : 5).[0m ×2 + 35.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 36.02sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330260 ms (missed cycles : 4). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330260 ms (missed cycles : 4).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055038 ms (missed cycles : 4). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055038 ms (missed cycles : 4).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592588 ms (missed cycles : 4). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592588 ms (missed cycles : 4).[0m ×2 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062457 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062457 ms (missed cycles : 2).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090397 ms (missed cycles : 4). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090397 ms (missed cycles : 4).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120026 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120026 ms (missed cycles : 3).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031026 ms (missed cycles : 5). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031026 ms (missed cycles : 5).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714778 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714778 ms (missed cycles : 2).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139659 ms (missed cycles : 2). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139659 ms (missed cycles : 2).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779370 ms (missed cycles : 3). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779370 ms (missed cycles : 3).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904197 ms (missed cycles : 3). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904197 ms (missed cycles : 3).[0m ×2 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574886 ms (missed cycles : 2). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574886 ms (missed cycles : 2).[0m ×2 + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952184 ms (missed cycles : 3). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952184 ms (missed cycles : 3).[0m ×2 + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963266 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963266 ms (missed cycles : 2).[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397768 ms (missed cycles : 3). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397768 ms (missed cycles : 3).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085364 ms (missed cycles : 4). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085364 ms (missed cycles : 4).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 53.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084026 ms (missed cycles : 4). + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084026 ms (missed cycles : 4).[0m ×2 + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070366 ms (missed cycles : 4). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070366 ms (missed cycles : 4).[0m ×2 + 55.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866318 ms (missed cycles : 4). + 55.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866318 ms (missed cycles : 4).[0m ×2 + 56.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237644 ms (missed cycles : 4). + 56.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237644 ms (missed cycles : 4).[0m ×2 + 56.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927738 ms (missed cycles : 3). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927738 ms (missed cycles : 3).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988178 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988178 ms (missed cycles : 3).[0m ×2 + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245854 ms (missed cycles : 4). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245854 ms (missed cycles : 4).[0m ×2 + 60.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853241 ms (missed cycles : 2). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853241 ms (missed cycles : 2).[0m ×2 + 61.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787824542.75101185 seconds ×3 + 61.77sWARNlocal_costmap.local_costmapSensor origin at (-0.32, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.77sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.495ms + 61.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061227 ms (missed cycles : 4). + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061227 ms (missed cycles : 4).[0m ×2 + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.459ms + 62.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787824543.34309983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.60sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 62.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646747 ms (missed cycles : 3). + 62.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646747 ms (missed cycles : 3).[0m ×2 + 62.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 63.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.4s	181 warnings · 194 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787824337.57359004 seconds ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 5.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-2.35, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.983ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787824338.15801907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122988 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122988 ms (missed cycles : 2).[0m ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800649 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800649 ms (missed cycles : 2).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513954 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513954 ms (missed cycles : 3).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.618ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464106 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464106 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.688ms + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.028ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288733 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288733 ms (missed cycles : 3).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.965ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.893ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644886 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644886 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.859ms + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.364ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868035 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868035 ms (missed cycles : 2).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.500ms + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.392ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347894 ms (missed cycles : 4). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347894 ms (missed cycles : 4).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.810ms + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.911ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332441 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332441 ms (missed cycles : 2).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.289ms + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.563ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622490 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622490 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 4549 particles 723 points - 7.536ms + 17.30sINFOamclParticle filter update iteration stats: 3772 particles 723 points - 4.794ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252086 ms (missed cycles : 4). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252086 ms (missed cycles : 4).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 3.783ms + 18.30sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 4.006ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315724 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315724 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.099ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729127 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729127 ms (missed cycles : 3).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425264 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425264 ms (missed cycles : 4).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895680 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895680 ms (missed cycles : 2).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640510 ms (missed cycles : 3). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640510 ms (missed cycles : 3).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946879 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946879 ms (missed cycles : 2).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388834 ms (missed cycles : 4). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388834 ms (missed cycles : 4).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656867 ms (missed cycles : 3). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656867 ms (missed cycles : 3).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958237 ms (missed cycles : 2). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958237 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832172 ms (missed cycles : 4). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832172 ms (missed cycles : 4).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325135 ms (missed cycles : 4). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325135 ms (missed cycles : 4).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093912 ms (missed cycles : 4). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093912 ms (missed cycles : 4).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666927 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666927 ms (missed cycles : 4).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067223 ms (missed cycles : 5). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067223 ms (missed cycles : 5).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040237 ms (missed cycles : 4). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040237 ms (missed cycles : 4).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440547 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440547 ms (missed cycles : 2).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821888 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821888 ms (missed cycles : 2).[0m ×2 + 36.61sINFOros2_control_nodeMuJoCo sim: 1.94% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807352 ms (missed cycles : 3). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807352 ms (missed cycles : 3).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895597 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895597 ms (missed cycles : 2).[0m ×2 + 38.02sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740498 ms (missed cycles : 2). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740498 ms (missed cycles : 2).[0m ×2 + 38.79sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738892 ms (missed cycles : 3). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738892 ms (missed cycles : 3).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056019 ms (missed cycles : 4). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056019 ms (missed cycles : 4).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636917 ms (missed cycles : 4). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636917 ms (missed cycles : 4).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604119 ms (missed cycles : 4). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604119 ms (missed cycles : 4).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 43.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 44.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926012 ms (missed cycles : 2). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926012 ms (missed cycles : 2).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527882 ms (missed cycles : 3). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527882 ms (missed cycles : 3).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859698 ms (missed cycles : 5). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859698 ms (missed cycles : 5).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185026 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185026 ms (missed cycles : 2).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751970 ms (missed cycles : 4). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751970 ms (missed cycles : 4).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428165 ms (missed cycles : 2). + 49.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428165 ms (missed cycles : 2).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553158 ms (missed cycles : 4). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553158 ms (missed cycles : 4).[0m ×2 + 50.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 51.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321661 ms (missed cycles : 4). + 51.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321661 ms (missed cycles : 4).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882697 ms (missed cycles : 3). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882697 ms (missed cycles : 3).[0m ×2 + 52.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771110 ms (missed cycles : 3). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771110 ms (missed cycles : 3).[0m ×2 + 53.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 54.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305502 ms (missed cycles : 3). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305502 ms (missed cycles : 3).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357525 ms (missed cycles : 4). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357525 ms (missed cycles : 4).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883957 ms (missed cycles : 3). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883957 ms (missed cycles : 3).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023430 ms (missed cycles : 3). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023430 ms (missed cycles : 3).[0m ×2 + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767534 ms (missed cycles : 3). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767534 ms (missed cycles : 3).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951951 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951951 ms (missed cycles : 3).[0m ×2 + 60.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787824393.96815109 seconds ×3 + 60.69sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.69sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.947ms + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 61.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787824394.55935645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917727 ms (missed cycles : 3). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917727 ms (missed cycles : 3).[0m ×2 + 61.75sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340564 ms (missed cycles : 4). + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340564 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	144 warnings · 266 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162319 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162319 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345465 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345465 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249891 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249891 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547978 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547978 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155235 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155235 ms (missed cycles : 3).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788626 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788626 ms (missed cycles : 3).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211260 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211260 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076746 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076746 ms (missed cycles : 2).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252603 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252603 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766738 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766738 ms (missed cycles : 3).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731055 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731055 ms (missed cycles : 2).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828647 ms (missed cycles : 3). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828647 ms (missed cycles : 3).[0m ×2 + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920067 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920067 ms (missed cycles : 3).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.114ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355546 ms (missed cycles : 4). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355546 ms (missed cycles : 4).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740495 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740495 ms (missed cycles : 2).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175203 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175203 ms (missed cycles : 2).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819792 ms (missed cycles : 3). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819792 ms (missed cycles : 3).[0m ×2 + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168036 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117662 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117662 ms (missed cycles : 2).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663840 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663840 ms (missed cycles : 3).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277149 ms (missed cycles : 3). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277149 ms (missed cycles : 3).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552197 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552197 ms (missed cycles : 2).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030369 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030369 ms (missed cycles : 2).[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777266 ms (missed cycles : 3). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777266 ms (missed cycles : 3).[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110517 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110517 ms (missed cycles : 3).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775976 ms (missed cycles : 2). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775976 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516968 ms (missed cycles : 3). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516968 ms (missed cycles : 3).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649605 ms (missed cycles : 3). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649605 ms (missed cycles : 3).[0m ×2 + 37.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883030 ms (missed cycles : 3). + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883030 ms (missed cycles : 3).[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703159 ms (missed cycles : 2). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703159 ms (missed cycles : 2).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619711 ms (missed cycles : 3). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619711 ms (missed cycles : 3).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529438 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529438 ms (missed cycles : 3).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670248 ms (missed cycles : 3). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670248 ms (missed cycles : 3).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226424 ms (missed cycles : 3). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226424 ms (missed cycles : 3).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4).[0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 47.88sINFOjoint_trajectory_controllerGoal reached, success! + 47.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 47.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 48.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 49.60sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 49.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.76sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	110 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614129 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614129 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158533 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158533 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076877 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076877 ms (missed cycles : 2).[0m ×2 + 2.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787824304.72444057 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341503 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341503 ms (missed cycles : 3).[0m ×2 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693787 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693787 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787824306.31344581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771113 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771113 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878000 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878000 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal + 6.95sINFOjoint_trajectory_controllerAccepted new action goal + 6.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042722 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042722 ms (missed cycles : 2).[0m ×2 + 7.71sINFOros2_control_nodeMuJoCo sim: 1.87% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141510 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141510 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.122ms ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368856 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368856 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778770 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778770 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.229ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.633ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804908 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804908 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.182ms + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.793ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649532 ms (missed cycles : 3). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649532 ms (missed cycles : 3).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.353ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.540ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570070 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570070 ms (missed cycles : 3).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.023ms + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.710ms + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559288 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559288 ms (missed cycles : 3).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.489ms + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558149 ms (missed cycles : 4). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558149 ms (missed cycles : 4).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.536ms + 16.61sINFOamclParticle filter update iteration stats: 4983 particles 723 points - 6.055ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993312 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993312 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 4849 particles 723 points - 9.089ms + 17.60sINFOamclParticle filter update iteration stats: 4539 particles 723 points - 5.293ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730411 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730411 ms (missed cycles : 2).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 5.964ms + 18.61sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 6.743ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890595 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890595 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 4.029ms + 19.60sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 3.715ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811218 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811218 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 3.624ms + 20.60sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.644ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594594 ms (missed cycles : 4). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594594 ms (missed cycles : 4).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.883ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090062 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090062 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509148 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509148 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683241 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683241 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831906 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831906 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543229 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543229 ms (missed cycles : 3).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014771 ms (missed cycles : 3). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014771 ms (missed cycles : 3).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835353 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835353 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321081 ms (missed cycles : 2). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321081 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187442 ms (missed cycles : 4). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187442 ms (missed cycles : 4).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5).[0m ×2 + 35.36sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787824337.57359004 seconds ×3 + 35.49sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 5.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.49sWARNlocal_costmap.local_costmapSensor origin at (-2.35, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.983ms + 35.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 35.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787824338.15801907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2).[0m ×2 + 36.33sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.7s	68 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927738 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988178 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988178 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245854 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245854 ms (missed cycles : 4).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853241 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853241 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787824542.75101185 seconds ×3 + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-0.32, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.495ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061227 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061227 ms (missed cycles : 4).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.459ms + 4.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787824543.34309983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646747 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646747 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425688 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425688 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303742 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303742 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457255 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457255 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433495 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433495 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 11.31sINFOros2_control_nodeMuJoCo sim: 4.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.42sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.61sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714259 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714259 ms (missed cycles : 3).[0m ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 12.06sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 12.47sINFOobjective_server_nodeFound path in 33 iterations (0.052615 s). ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889215 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889215 ms (missed cycles : 3).[0m ×2 + 13.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 13.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.99sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948114 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948114 ms (missed cycles : 3).[0m ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 14.88sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966815 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966815 ms (missed cycles : 3).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523385 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523385 ms (missed cycles : 3).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 17.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 19.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.907ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3).[0m ×2 + 20.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787824559.50029588 seconds ×3 + 21.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 21.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824560.11520386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.49sINFOmove_groupClearing octomap...[0m ×2 + 21.49sINFOmove_groupOctomap cleared.[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3).[0m ×2 + 22.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824560.82532525 seconds ×3 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2).[0m ×2 + 22.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824561.40528607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824561.92639732 seconds ×3 + 23.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.0s	94 errors · 36 warnings · 430 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 0.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.907ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! + 2.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787824559.50029588 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824560.11520386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824560.82532525 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824561.40528607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824561.92639732 seconds ×3 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691477 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691477 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063304 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063304 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250093 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250093 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701870 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701870 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569286 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569286 ms (missed cycles : 2).[0m ×2 + 11.41sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.47sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORweb_video_auth_proxy-35process has died [pid 9829, 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 + 11.47sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.51sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORweb_bridge_auth_proxy-34process has died [pid 9825, 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 + 11.51sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.60sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.62sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.64sINFOvideo_server-33process has finished cleanly [pid 9824] ×2 + 11.65sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.67sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.70sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.72sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.75sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.78sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675791 ms (missed cycles : 3). + 11.81sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.85sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.87sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9819] ×2 + 11.87sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.89sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.93sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.95sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787824568.595 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.98sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.98sINFOcontroller_managerShutdown request received.... + 11.98sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.98sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.98sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.98sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.98sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.98sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.98sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.98sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.98sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.98sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.98sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.98sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.98sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.98sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.98sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.98sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.98sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.98sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.98sINFOcontroller_managerShutting down the controller manager. + 11.99sINFOui_teleop_bridge-30process has finished cleanly [pid 9809] ×2 + 12.02sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.03sERRORmove_group-21process has died [pid 9776, 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_blosfao0 --params-file /tmp/launch_params_41dft59o --params-file /tmp/launch_params_0vybpm4f --params-file /tmp/launch_params_62ichyhc --params-file /tmp/launch_params_trthgz18 --params-file /tmp/launch_params_7n22afyg']. ×2 + 12.03sINFOcomponent_container_mt-28process has finished cleanly [pid 9801] ×2 + 12.06sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.07sINFOexecute_objective_bridge-29process has finished cleanly [pid 9803] ×2 + 12.09sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.11sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.13sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.15sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.18sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.18sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.18sINFOmap_serverDeactivating + 12.18sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.19sINFOmap_serverCleaning up + 12.19sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.19sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.20sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.20sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.20sINFOcontroller_serverDeactivating + 12.20sINFOlocal_costmap.local_costmapDeactivating + 12.20sINFOvideo_server2026/08/27 09:56:08 INF shutting down gracefully ×2 + 12.20sINFOvideo_server2026/08/27 09:56:08 INF [WebRTC] closing ×2 + 12.20sINFOvideo_server2026/08/27 09:56:08 INF [RTSP] closing ×2 + 12.20sINFOvideo_server2026/08/27 09:56:08 INF waiting for running hooks ×2 + 12.20sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.21sERRORamclThe bond connection to the lifecycle manager has been broken + 12.21sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.21sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675791 ms (missed cycles : 3).[0m ×2 + 12.21sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.21sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.21sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.22sERRORmove_groupStack trace (most recent call last) in thread 10425: ×2 + 12.22sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.22sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab78302a63, in __clone ×2 + 12.22sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab78275aa3, in ×2 + 12.22sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab78507db3, in ×2 + 12.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7fab78c78a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab78899620, in rclcpp::Rate::sleep() ×2 + 12.22sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab787dbd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.22sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab7879d087, in ×2 + 12.22sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab784d6390, in __cxa_throw ×2 + 12.22sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab784c0a54, in std::terminate() ×2 + 12.22sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab784d60d9, in ×2 + 12.22sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab784c0ff4, in ×2 + 12.22sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab782018fe, in abort ×2 + 12.22sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab7821e27d, in raise ×2 + 12.22sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab78277b2c, in pthread_kill ×2 + 12.22sERRORmove_groupAborted (Signal sent by tkill() 9776 0) ×2 + 12.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.22sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.22sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.22sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.22sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.22sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.23sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.23sINFOodom_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 + 12.23sINFOodom_qos_relay.pymain() ×2 + 12.23sINFOodom_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 + 12.23sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.23sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.23sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.23sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.23sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.23sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.23sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.23sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.24sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.24sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.24sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.26sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.27sINFOcontroller_serverCleaning up + 12.27sINFOlocal_costmap.local_costmapCleaning up + 12.31sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.31sINFOsmoother_serverDeactivating + 12.31sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.32sINFOsmoother_serverCleaning up + 12.34sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.34sINFOplanner_serverDeactivating + 12.34sINFOglobal_costmap.global_costmapDeactivating + 12.41sERRORcomponent_container_isolated-2process has died [pid 9680, 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_0n7ue67i --params-file /tmp/launch_params_0hd5ad5w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.43sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.43sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.43sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.43sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.43sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.43sINFOvelocity_smootherDeactivating + 12.43sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.54sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.54sINFOwaypoint_followerDeactivating + 12.54sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.65sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.65sINFObt_navigatorDeactivating + 12.65sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.77sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.77sINFObehavior_serverDeactivating + 12.77sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.82sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9798] ×2 + 12.86sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9797] ×2 + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.88sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.88sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.88sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.88sINFOvelocity_smootherCleaning up + 12.89sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.89sINFOwaypoint_followerCleaning up + 12.91sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.91sINFObt_navigatorCleaning up + 12.92sINFOobjective_server_node[2026-08-27 09:56:09.868] [moveit_pro_license] [critical] ×2 + 12.92sINFOobjective_server_node************************************************* ×4 + 12.92sINFOobjective_server_node* MoveIt Pro License ×2 + 12.92sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.94sINFOwaypoint_manager_node-23process has finished cleanly [pid 9778] ×2 + 12.95sINFOcomponent_container_mt-27process has finished cleanly [pid 9800] ×2 + 12.95sINFOparameter_manager_node-22process has finished cleanly [pid 9777] ×2 + 12.98sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.98sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.98sINFOobjective_server_node_main-26process has finished cleanly [pid 9799] ×2 + 12.98sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.99sINFOplanner_serverCleaning up + 13.00sINFOglobal_costmap.global_costmapCleaning up + 13.01sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.01sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.04sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.04sINFObehavior_serverCleaning up + 13.05sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.05sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.05sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.05sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.06sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9686] ×2 + 13.09sINFObt_navigatorCompleted Cleaning up + 13.09sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.10sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9685] ×2 + 13.14sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.14sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.14sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.14sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.17sINFOstatic_transform_publisher-4process has finished cleanly [pid 9682] ×2 + 13.19sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9684] ×2 + 13.20sINFOstatic_transform_publisher-3process has finished cleanly [pid 9681] ×2 + 13.21sERRORodom_qos_relay.py-5process has died [pid 9683, 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 + 13.42sERRORcomponent_container_isolated-1process has died [pid 9679, 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_0n7ue67i --params-file /tmp/launch_params_wvvtv2ob -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.55sINFOweb_bridge-31process has finished cleanly [pid 9816] ×2 + 14.55sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.71sINFOros2_control_node-9process has finished cleanly [pid 9687] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	3 errors · 53 warnings · 114 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883957 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883957 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023430 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023430 ms (missed cycles : 3).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767534 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767534 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951951 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951951 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787824393.96815109 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.947ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.506ms + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787824394.55935645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917727 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917727 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340564 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340564 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873471 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873471 ms (missed cycles : 3).[0m ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.20sINFOjoint_trajectory_controllerReceived new action goal + 7.20sINFOjoint_trajectory_controllerAccepted new action goal + 7.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745010 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745010 ms (missed cycles : 3).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459988 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459988 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.294ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409682 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409682 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.274ms + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558292 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558292 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.401ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477071 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477071 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.459ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299698 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299698 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.696ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.539ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085668 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085668 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 14.82sINFOobjective_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 + 14.83sINFOjoint_trajectory_controllerGot request to cancel goal + 14.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.83sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.85sERRORobjective_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: 1787824405.06850839 seconds ×3 + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.949ms + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.926ms + 15.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787824405.65206313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535378 ms (missed cycles : 3). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535378 ms (missed cycles : 3).[0m ×2 + 15.86sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809748 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809748 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105716 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105716 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	44 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.51sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551939 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551939 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614129 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614129 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158533 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158533 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076877 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076877 ms (missed cycles : 2).[0m ×2 + 9.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787824304.72444057 seconds ×3 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341503 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341503 ms (missed cycles : 3).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693787 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693787 ms (missed cycles : 2).[0m ×2 + 11.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787824306.31344581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771113 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771113 ms (missed cycles : 3).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878000 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878000 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	41 warnings · 95 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036725 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593570 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593570 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961125 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961125 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384096 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384096 ms (missed cycles : 4).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787824478.75224543 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.09sWARNlocal_costmap.local_costmapSensor origin at (-0.31, 3.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.09sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 3.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.356ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.580ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394102 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394102 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787824479.33762169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686199 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686199 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 10.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 10.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.4s	30 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787824240.68918109 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2).[0m ×2 + 7.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787824241.27182889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.907ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787824559.50029588 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 + 4.29sINFOros2_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 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824560.11520386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.89sINFOmove_groupClearing octomap...[0m ×2 + 4.89sINFOmove_groupOctomap cleared.[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824560.82532525 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824561.40528607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824561.92639732 seconds ×3 + 6.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691477 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691477 ms (missed cycles : 3).[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 2.581210 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 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 2.581210 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581210 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135210 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111758 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952692 ms (missed cycles : 3).[0m ×2 + 0.58sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787824237.28281498 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171277 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787824237.86905622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756373 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (2.4055e-05 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.33sINFOjoint_trajectory_controllerReceived new action goal + 2.33sINFOjoint_trajectory_controllerAccepted new action goal + 2.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.993ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889057 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787824240.68918109 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746649 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787824241.27182889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339494 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955712 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787824337.57359004 seconds ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 5.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-2.35, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.983ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787824338.15801907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787824337.57359004 seconds ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 5.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-2.35, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.983ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787824338.15801907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531958 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954170 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723221 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188116 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787824485.20776105 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546093 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787824485.81033421 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 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072743 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605483 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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 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	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160807 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504241 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657861 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787824298.27196264 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.015ms + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787824298.87424684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883207 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861307 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508796 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110861 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792305 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075117 ms (missed cycles : 5).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787824337.57359004 seconds ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 5.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.39sWARNlocal_costmap.local_costmapSensor origin at (-2.35, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.983ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787824338.15801907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737551 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931809 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258656 ms (missed cycles : 3).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673712 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.907ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146120 ms (missed cycles : 2).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153971 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787824559.50029588 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 + 4.29sINFOros2_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 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787824560.11520386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.89sINFOmove_groupClearing octomap...[0m ×2 + 4.89sINFOmove_groupOctomap cleared.[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626911 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787824560.82532525 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725993 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787824561.40528607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787824561.92639732 seconds ×3 + 6.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.26sINFOjoint_trajectory_controllerReceived new action goal + 7.26sINFOjoint_trajectory_controllerAccepted new action goal + 7.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.27sINFOros2_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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 3.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.34sINFOmove_groupClearing octomap...[0m ×2 + 4.34sINFOmove_groupOctomap cleared.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.98sINFOros2_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 4.684160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 3.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.34sINFOmove_groupClearing octomap...[0m ×2 + 4.34sINFOmove_groupOctomap cleared.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_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 1.918612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918612 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_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 4.145590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145590 ms (missed cycles : 3).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535553 ms (missed cycles : 4).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693817 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787824191.54469419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787824191.55496264 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787824192.15216470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787824192.16327620 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796114 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787824192.74234986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787824192.89290237 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787824193.52339959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787824193.59353161 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425071 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787824194.17431402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2