MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	31.1s	12 errors · 307 warnings · 1401 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/2026-08-27-14-37-24-140237-57bd49adc728-9650 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.13sINFOstatic_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' + 13.13sINFOstatic_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' + 13.19sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.21sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.21sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.23sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.25sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.27sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.28sINFOcontroller_managerupdate rate is 600 Hz + 13.28sINFOcontroller_managerOverruns handling is : enabled + 13.28sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.29sWARNcontroller_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. + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.35sINFOros2_control_node-9process started with pid [9708] ×2 + 13.36sINFOmove_group-21process started with pid [9797] ×2 + 13.36sINFOparameter_manager_node-22process started with pid [9798] ×2 + 13.36sINFOwaypoint_manager_node-23process started with pid [9799] ×2 + 13.36sINFOmove_joint_resampler_node-24process started with pid [9821] ×2 + 13.36sINFOmove_end_effector_resampler_node-25process started with pid [9822] ×2 + 13.36sINFOobjective_server_node_main-26process started with pid [9823] ×2 + 13.36sINFOcomponent_container_mt-27process started with pid [9824] ×2 + 13.36sINFOcomponent_container_mt-28process started with pid [9825] ×2 + 13.36sINFOexecute_objective_bridge-29process started with pid [9826] ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838689 ms (missed cycles : 3). + 13.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.39sINFOui_teleop_bridge-30process started with pid [9827] ×2 + 13.39sINFOweb_bridge-31process started with pid [9828] ×2 + 13.39sINFOtf2_web_republisher_node-32process started with pid [9829] ×2 + 13.39sINFOvideo_server-33process started with pid [9830] ×2 + 13.39sINFOweb_bridge_auth_proxy-34process started with pid [9831] ×2 + 13.39sINFOweb_video_auth_proxy-35process started with pid [9832] ×2 + 13.40sINFOcomponent_container_isolated-1process started with pid [9700] ×2 + 13.40sINFOcomponent_container_isolated-2process started with pid [9701] ×2 + 13.40sINFOstatic_transform_publisher-3process started with pid [9702] ×2 + 13.40sINFOstatic_transform_publisher-4process started with pid [9703] ×2 + 13.40sINFOodom_qos_relay.py-5process started with pid [9704] ×2 + 13.40sINFOforward_stereo_publisher.py-6process started with pid [9705] ×2 + 13.40sINFOscan_to_scan_filter_chain-7process started with pid [9706] ×2 + 13.40sINFOscan_to_scan_filter_chain-8process started with pid [9707] ×2 + 13.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.41sINFOros2-10process started with pid [9779] ×2 + 13.41sINFOros2-11process started with pid [9780] ×2 + 13.41sINFOros2-12process started with pid [9781] ×2 + 13.41sINFOros2-13process started with pid [9782] ×2 + 13.41sINFOros2-14process started with pid [9783] ×2 + 13.41sINFOros2-15process started with pid [9790] ×2 + 13.41sINFOros2-16process started with pid [9792] ×2 + 13.41sINFOros2-17process started with pid [9793] ×2 + 13.41sINFOros2-18process started with pid [9794] ×2 + 13.41sINFOros2-19process started with pid [9795] ×2 + 13.41sINFOros2-20process started with pid [9796] ×2 + 13.45sINFOmap_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. + 13.45sINFOmap_serverCreating + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.47sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.50sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.50sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.50sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.50sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.51sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.51sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.51sWARNros2_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 + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838689 ms (missed cycles : 3).[0m ×2 + 13.53sINFOcontroller_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. + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.56sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.63sINFOlifecycle_manager_localizationCreating + 13.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.66sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.66sINFOcontroller_serverCreating controller server + 13.66sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.66sINFOcontroller_managerReceived robot description from topic. + 13.66sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.67sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.67sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.67sINFOrobot_state_publisherRobot initialized + 13.67sINFOmap_serverConfiguring + 13.67sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.67sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.68sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.70sINFOlocal_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. + 13.70sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.70sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.71sINFOlocal_costmap.local_costmapCreating Costmap + 13.72sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.76sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.76sINFOamclConfiguring + 13.77sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.77sINFOmap_serverActivating + 13.77sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.77sINFOsmoother_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. + 13.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.81sINFOsmoother_serverCreating smoother server + 13.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.87sINFOplanner_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. + 13.88sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.88sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.88sINFOamclActivating + 13.88sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.88sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.89sINFOamclSubscribed to map_topic: /map + 13.90sINFOamclSubscribed to scan_topic: /scan_merged + 13.90sINFOamclCreated reinitialize_global_localization service + 13.90sINFOamclCreated request_nomotion_update service + 13.90sINFOamclA new map was received + 13.90sINFOamclInitializing particle filter instance + 13.92sINFOplanner_serverCreating + 13.95sINFOglobal_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. + 13.96sINFOglobal_costmap.global_costmapCreating Costmap + 13.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.01sINFObehavior_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. + 14.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.09sINFOvideo_server2026/08/27 14:37:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.11sINFOvideo_server2026/08/27 14:37:41 INF configuration loaded from /tmp/moveit-webrtc-3n48y1fc/mediamtx.yml ×2 + 14.11sINFOvideo_server2026/08/27 14:37:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.11sINFOvideo_server2026/08/27 14:37:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.13sINFObt_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. + 14.13sWARNlaser_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. + 14.13sWARNlaser_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. + 14.13sWARNscan_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 + 14.16sINFObt_navigatorCreating + 14.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.21sINFOwaypoint_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. + 14.21sINFOwaypoint_followerCreating + 14.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.24sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.358771 seconds + 14.24sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.24sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.24sINFOmove_groupLoaded robot model in 0.358771 seconds[0m ×2 + 14.24sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.24sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.26sINFOvelocity_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. + 14.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.32sINFOlifecycle_manager_navigationCreating + 14.34sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.38sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.38sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.39sINFOcontroller_serverConfiguring controller interface + 14.39sINFOcontroller_servergetting progress checker plugins.. + 14.39sINFOcontroller_servergetting goal checker plugins.. + 14.39sINFOcontroller_serverController frequency set to 20.0000Hz + 14.39sINFOlocal_costmap.local_costmapConfiguring + 14.40sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.44sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.47sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.47sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.47sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.51sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.51sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.52sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.52sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.53sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.55sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.57sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.57sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.59sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.59sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.60sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.60sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.60sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.60sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.61sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.61sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.61sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.61sWARNmove_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. + 14.61sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.61sWARNmove_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. + 14.62sWARNmove_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. + 14.62sWARNmove_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 + 14.62sWARNmove_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 + 14.62sWARNmove_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. + 14.62sWARNmove_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. + 14.62sWARNmove_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 + 14.62sWARNmove_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. + 14.62sWARNmove_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 + 14.62sWARNmove_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. + 14.62sWARNmove_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. + 14.62sWARNmove_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 + 14.62sWARNmove_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 + 14.62sWARNmove_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 + 14.62sWARNmove_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. + 14.62sWARNmove_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. + 14.62sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.63sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.63sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.63sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.63sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.64sINFOcontroller_serverOptimizer reset ×2 + 14.64sWARNmove_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 + 14.64sWARNmove_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 + 14.64sWARNmove_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 + 14.66sINFOcontroller_serverController Server has FollowPath controllers available. + 14.67sINFOamclParticle filter initialization completed + 14.67sINFOamclInitializing particles from estimated pose and covariance + 14.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.67sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.67sINFOsmoother_serverConfiguring smoother server + 14.68sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161179 ms (missed cycles : 2). + 14.69sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.69sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.69sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161179 ms (missed cycles : 2).[0m ×2 + 14.69sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.70sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.70sINFOplanner_serverConfiguring + 14.70sINFOglobal_costmap.global_costmapConfiguring + 14.70sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.71sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.71sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.71sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.72sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.76sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.76sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.77sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.78sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.80sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.80sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.81sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.82sINFOplanner_serverPlanner Server has GridBased planners available. + 14.84sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.84sINFObehavior_serverConfiguring + 14.85sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.86sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.87sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.87sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.89sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.90sINFObehavior_serverConfiguring spin + 14.91sINFOwaypoint_manager_nodeLoaded robot model in 0.500367 seconds[0m ×2 + 14.91sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.91sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.91sINFObehavior_serverConfiguring backup + 14.93sINFObehavior_serverConfiguring drive_on_heading + 14.94sINFObehavior_serverConfiguring assisted_teleop + 14.96sINFObehavior_serverConfiguring wait + 14.97sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.97sINFObt_navigatorConfiguring + 14.98sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.00sWARNbt_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 + 15.09sINFOmove_group[2026-08-27 14:37:42.460] [moveit_pro_license] [info] ×2 + 15.09sINFOmove_group************************************************* ×4 + 15.09sINFOmove_group* MoveIt Pro License ×2 + 15.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.22sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.31sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.31sINFOwaypoint_followerConfiguring + 15.34sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.35sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.35sINFOvelocity_smootherConfiguring velocity smoother + 15.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.36sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.36sINFOcontroller_serverActivating + 15.36sINFOlocal_costmap.local_costmapActivating + 15.36sINFOlocal_costmap.local_costmapChecking transform + 15.36sINFOlocal_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. ×3 + 15.40sINFOros2_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 + 15.41sINFOros2_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 + 15.70sWARNwaypoint_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. + 15.70sWARNwaypoint_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. + 15.71sWARNwaypoint_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 + 15.71sWARNwaypoint_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. + 15.71sWARNwaypoint_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 + 15.71sWARNwaypoint_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 + 15.71sWARNwaypoint_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. + 15.71sWARNwaypoint_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 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240603 ms (missed cycles : 3). + 15.71sWARNwaypoint_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. + 15.71sWARNwaypoint_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. + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240603 ms (missed cycles : 3).[0m ×2 + 15.71sWARNwaypoint_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 + 15.71sWARNwaypoint_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 + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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 + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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 + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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 + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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 + 15.72sWARNwaypoint_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. + 15.72sWARNwaypoint_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 + 15.73sWARNwaypoint_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 + 15.73sWARNwaypoint_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 + 15.73sWARNwaypoint_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 + 15.73sWARNwaypoint_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. + 15.73sWARNwaypoint_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. + 15.73sWARNwaypoint_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. + 15.73sWARNwaypoint_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 + 15.73sWARNwaypoint_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 + 15.73sWARNwaypoint_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 + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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 + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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 + 15.74sWARNwaypoint_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 + 15.74sWARNwaypoint_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 + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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 + 15.74sWARNwaypoint_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. + 15.74sWARNwaypoint_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 + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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 + 15.76sWARNwaypoint_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 + 15.76sWARNwaypoint_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 + 15.76sWARNwaypoint_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 + 15.76sWARNwaypoint_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 + 16.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.14sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.14sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.14sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.15sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.15sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.15sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.15sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.15sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.15sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.15sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.16sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.16sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.16sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.16sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.17sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.17sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.17sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.27sINFOwaypoint_manager_node[2026-08-27 14:37:43.640] [moveit_pro_license] [info] ×2 + 16.27sINFOwaypoint_manager_node************************************************* ×4 + 16.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.57sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.57sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.57sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.58sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.58sWARNros2_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 + 16.58sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 16.58sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 16.58sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 16.58sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.58sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.58sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 16.58sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.58sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.58sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 16.58sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.58sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 16.58sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 16.58sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 16.58sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 16.58sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 16.58sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 16.58sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.58sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.58sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.58sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.58sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.58sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.58sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.58sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.58sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.60sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.61sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.62sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 16.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 16.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 16.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 16.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 16.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2).[0m ×2 + 16.83sINFOros2_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 + 16.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 16.83sWARNros2_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 + 16.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 16.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 16.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 16.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 16.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 16.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 16.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 16.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 16.85sINFOcontroller_managerSuccessfully switched controllers! ×19 + 16.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 16.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 16.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 16.87sINFOlocal_costmap.local_costmapstart + 16.97sWARNcontroller_serverParameter controller_server.verbose not found + 16.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 16.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.98sWARNcomponent_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 + 17.02sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 3.624ms + 17.08sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 17.08sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 17.08sINFOsmoother_serverActivating + 17.08sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 17.11sINFOobjective_server_node[2026-08-27 14:37:44.486] [moveit_pro_license] [info] ×2 + 17.11sINFOobjective_server_node************************************************* ×4 + 17.11sINFOobjective_server_node* MoveIt Pro License ×2 + 17.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.18sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 17.18sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 17.19sINFOplanner_serverActivating + 17.19sINFOglobal_costmap.global_costmapActivating + 17.19sINFOglobal_costmap.global_costmapChecking transform + 17.19sINFOglobal_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 1787841464.528547 but the earliest data is at time 1787841465.270289, when looking up transform from frame [ridgeback_base_link] to frame [map] + 17.19sINFOobjective_server_nodeLoaded robot model in 0.0335668 seconds[0m ×2 + 17.19sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.19sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.20sINFOros2-12process has finished cleanly [pid 9781] ×2 + 17.21sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.21sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.21sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.21sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.22sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.24sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.24sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.24sINFOstreaming_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) + 17.24sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.25sINFOcomponent_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 + 17.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.33sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 17.33sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 17.36sINFOcomponent_container_mtLoaded robot model in 0.378392 seconds[0m ×2 + 17.36sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.36sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.40sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 17.40sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 17.40sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.40sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.49sINFOstreaming_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) + 17.49sINFOcomponent_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 + 17.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 17.69sINFOglobal_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 1787841465.035937 but the earliest data is at time 1787841465.270289, when looking up transform from frame [ridgeback_base_link] to frame [map] + 17.70sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.70sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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 + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.70sWARNobjective_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 + 17.70sWARNobjective_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 + 17.70sWARNobjective_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 + 17.70sWARNobjective_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. + 17.70sWARNobjective_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. + 17.71sWARNobjective_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 + 17.71sWARNobjective_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 + 17.71sWARNobjective_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 + 17.71sWARNobjective_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 + 17.71sWARNobjective_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 + 17.71sWARNobjective_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 + 17.77sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 17.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.79sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670618 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670618 ms (missed cycles : 2).[0m ×2 + 17.81sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787841464.070 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 17.89sINFOmove_groupMoveGroup debug mode is ON + 17.89sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNcomponent_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 + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNcomponent_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 + 17.90sWARNcomponent_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 + 17.90sWARNcomponent_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 + 17.90sWARNplanning_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. + 17.90sWARNcomponent_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 + 17.90sWARNplanning_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. + 17.90sWARNcomponent_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 + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNplanning_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. + 17.90sWARNcomponent_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 + 17.90sWARNcomponent_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 + 17.90sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.91sWARNplanning_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. + 17.91sWARNplanning_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. + 17.91sWARNcomponent_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 + 17.91sWARNcomponent_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 + 17.92sWARNcomponent_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 + 17.92sWARNcomponent_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 + 17.93sINFOros2_control_node[2026-08-27 14:37:45.301] [info] Controller state will be published at 20 Hz. ×2 + 17.93sINFOros2_control_node[2026-08-27 14:37:45.302] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.95sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.01sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.01sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.04sINFOmove_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 ****************************************************** + 18.05sINFOmove_group ×8 + 18.05sINFOmove_group****************************************************** ×4 + 18.05sINFOmove_group* MoveGroup using: ×2 + 18.05sINFOmove_group* - apply_planning_scene_service ×2 + 18.05sINFOmove_group* - clear_octomap_service ×2 + 18.05sINFOmove_group* - get_group_urdf ×2 + 18.05sINFOmove_group* - load_geometry_from_file ×2 + 18.05sINFOmove_group* - get_planning_scene_service ×2 + 18.05sINFOmove_group* - kinematics_service ×2 + 18.05sINFOmove_group* - save_geometry_to_file ×2 + 18.05sINFOmove_group* - GetPlanningGroups ×2 + 18.05sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.05sINFOmove_group[0m ×2 + 18.05sINFOmove_group[92mYou can start planning now![0m ×2 + 18.08sINFOcomponent_container_mt[2026-08-27 14:37:45.451] [moveit_pro_license] [info] ×2 + 18.08sINFOcomponent_container_mt************************************************* ×4 + 18.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.19sINFOglobal_costmap.global_costmapstart + 18.21sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.30sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.30sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.30sINFOros2-20process has finished cleanly [pid 9796] ×2 + 18.37sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 18.37sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 18.44sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.44sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.44sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.45sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.45sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.45sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.81sINFOros2_control_node[2026-08-27 14:37:46.179] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.81sINFOros2_control_node[2026-08-27 14:37:46.181] [info] Controller state will be published at 10 Hz. ×2 + 18.81sINFOros2_control_node[2026-08-27 14:37:46.182] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742157 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742157 ms (missed cycles : 3).[0m ×2 + 19.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 19.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 19.17sINFOros2-18process has finished cleanly [pid 9794] ×2 + 19.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 19.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.20sINFOforce_torque_sensor_broadcasterconfigure successful + 19.20sINFOros2_control_nodeconfigure successful[0m ×6 + 19.21sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.24sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 19.24sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 19.34sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 19.34sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 19.35sINFObehavior_serverActivating + 19.35sINFObehavior_serverActivating spin + 19.35sINFObehavior_serverActivating backup + 19.35sINFObehavior_serverActivating drive_on_heading + 19.35sINFObehavior_serverActivating assisted_teleop + 19.35sINFObehavior_serverActivating wait + 19.35sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 19.46sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 19.46sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 19.46sINFObt_navigatorActivating + 19.54sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 19.56sINFOros2-10process has finished cleanly [pid 9779] ×2 + 19.57sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.57sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 19.57sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.57sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 19.57sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 19.57sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 19.59sWARNobjective_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 + 19.63sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 19.63sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 19.63sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.64sINFOplatform_velocity_controller_nav2configure successful + 19.64sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 19.64sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 19.64sINFOwaypoint_followerActivating + 19.64sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 19.75sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 19.75sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 19.75sINFOvelocity_smootherActivating + 19.75sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 19.85sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 19.85sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 19.85sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503142 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503142 ms (missed cycles : 2).[0m ×2 + 19.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.06sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.06sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.06sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.06sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.06sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 20.06sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 20.07sINFOros2-15process has finished cleanly [pid 9790] ×2 + 20.12sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.12sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.13sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.13sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.48sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.48sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 20.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.49sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 20.49sINFOros2-11process has finished cleanly [pid 9780] ×2 + 20.55sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.55sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.55sINFOplatform_velocity_controllerconfigure successful + 20.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.56sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.56sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 20.90sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 20.90sINFOros2-13process has finished cleanly [pid 9782] ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939975 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939975 ms (missed cycles : 2).[0m ×2 + 21.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.38sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.38sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.39sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.39sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.39sINFOros2-16process has finished cleanly [pid 9792] ×2 + 21.39sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 21.39sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 21.41sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.44sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.44sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.44sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.44sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.44sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.45sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.46sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.46sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 21.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 21.79sINFOros2-14process has finished cleanly [pid 9783] ×2 + 21.87sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.87sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.87sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324213 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324213 ms (missed cycles : 2).[0m ×2 + 22.30sINFOros2_control_node[2026-08-27 14:37:49.670] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.30sINFOros2_control_node[2026-08-27 14:37:49.671] [info] Controller state will be published at 10 Hz. ×2 + 22.30sINFOros2_control_node[2026-08-27 14:37:49.672] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.66sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.66sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og + 22.66sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.66sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__winvqjs --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_ti8vvvp9 --params-file /tmp/launch_params_x30an1og [0m ×2 + 22.66sINFOros2-17process has finished cleanly [pid 9793] ×2 + 22.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 22.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 22.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 22.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262316 ms (missed cycles : 4). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262316 ms (missed cycles : 4).[0m ×2 + 23.08sINFOros2_control_node[2026-08-27 14:37:50.450] [info] Controller state will be published at 20 Hz. ×2 + 23.08sINFOros2_control_node[2026-08-27 14:37:50.451] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 23.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 23.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 23.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 23.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 23.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 23.41sINFOros2-19process has finished cleanly [pid 9795] ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922015 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922015 ms (missed cycles : 2).[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 26.61sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 28.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.44sINFOmove_groupClearing octomap...[0m ×2 + 28.44sINFOmove_groupOctomap cleared.[0m ×2 + 28.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 29.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 29.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 30.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.39sINFOobjective_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 + 30.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 30.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 30.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 30.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3

▾/__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 · 234 warnings · 241 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.158ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243210 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243210 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.641ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.765ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432711 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432711 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037614 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037614 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.940ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.618ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322240 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322240 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 3.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sERRORobjective_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: 1787841687.19142866 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 7.216ms + 4.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.705ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268609 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268609 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787841687.77429414 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 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888208 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888208 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481430 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481430 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.24sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.24sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.24sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.24sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887048 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887048 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533323 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533323 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.332ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432984 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432984 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.710ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.460ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519869 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519869 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.506ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.384ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834311 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834311 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.099ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646480 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646480 ms (missed cycles : 2).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.387ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.926ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288330 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288330 ms (missed cycles : 4).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.631ms + 14.79sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 6.325ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443815 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443815 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 3700 particles 723 points - 5.281ms + 15.79sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 4.326ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040959 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040959 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 3.768ms + 16.79sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 4.370ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852850 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852850 ms (missed cycles : 3).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 3.969ms + 17.79sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.388ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571205 ms (missed cycles : 4). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571205 ms (missed cycles : 4).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.192ms + 18.79sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.518ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730610 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730610 ms (missed cycles : 3).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279099 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279099 ms (missed cycles : 3).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745072 ms (missed cycles : 3). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745072 ms (missed cycles : 3).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267856 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267856 ms (missed cycles : 2).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754259 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754259 ms (missed cycles : 2).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956033 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956033 ms (missed cycles : 3).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758449 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758449 ms (missed cycles : 3).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156197 ms (missed cycles : 4). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156197 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms ×3 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046669 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046669 ms (missed cycles : 4).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806719 ms (missed cycles : 3). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806719 ms (missed cycles : 3).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362199 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362199 ms (missed cycles : 3).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 30.80sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849045 ms (missed cycles : 3). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849045 ms (missed cycles : 3).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225447 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225447 ms (missed cycles : 2).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125816 ms (missed cycles : 4). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125816 ms (missed cycles : 4).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091765 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091765 ms (missed cycles : 2).[0m ×2 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms ×3 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072926 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072926 ms (missed cycles : 2).[0m ×2 + 35.61sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.61sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394744 ms (missed cycles : 3). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394744 ms (missed cycles : 3).[0m ×2 + 36.75sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562549 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562549 ms (missed cycles : 3).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156869 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156869 ms (missed cycles : 2).[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559302 ms (missed cycles : 4). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559302 ms (missed cycles : 4).[0m ×2 + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468010 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468010 ms (missed cycles : 3).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615987 ms (missed cycles : 4). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615987 ms (missed cycles : 4).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 42.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588556 ms (missed cycles : 3). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588556 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053608 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053608 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437962 ms (missed cycles : 3). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437962 ms (missed cycles : 3).[0m ×2 + 44.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms ×2 + 45.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902736 ms (missed cycles : 3). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902736 ms (missed cycles : 3).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953437 ms (missed cycles : 3). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953437 ms (missed cycles : 3).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916074 ms (missed cycles : 2). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916074 ms (missed cycles : 2).[0m ×2 + 48.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046238 ms (missed cycles : 4). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046238 ms (missed cycles : 4).[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952171 ms (missed cycles : 3). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952171 ms (missed cycles : 3).[0m ×2 + 50.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344853 ms (missed cycles : 3). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344853 ms (missed cycles : 3).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902657 ms (missed cycles : 3). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902657 ms (missed cycles : 3).[0m ×2 + 52.58sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603729 ms (missed cycles : 4). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603729 ms (missed cycles : 4).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990574 ms (missed cycles : 3). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990574 ms (missed cycles : 3).[0m ×2 + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019762 ms (missed cycles : 4). + 55.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019762 ms (missed cycles : 4).[0m ×2 + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838207 ms (missed cycles : 3). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838207 ms (missed cycles : 3).[0m ×2 + 57.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218813 ms (missed cycles : 2). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218813 ms (missed cycles : 2).[0m ×2 + 57.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399011 ms (missed cycles : 4). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399011 ms (missed cycles : 4).[0m ×2 + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975813 ms (missed cycles : 2). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975813 ms (missed cycles : 2).[0m ×2 + 60.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 60.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937763 ms (missed cycles : 3). + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937763 ms (missed cycles : 3).[0m ×2 + 61.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000831 ms (missed cycles : 3). + 61.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000831 ms (missed cycles : 3).[0m ×2 + 62.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 62.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415961 ms (missed cycles : 3). + 62.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415961 ms (missed cycles : 3).[0m ×2 + 63.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041340 ms (missed cycles : 2). + 63.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041340 ms (missed cycles : 2).[0m ×2 + 64.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 64.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501142 ms (missed cycles : 3). + 64.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501142 ms (missed cycles : 3).[0m ×2 + 65.39sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 65.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050082 ms (missed cycles : 2). + 65.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050082 ms (missed cycles : 2).[0m ×2 + 66.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262357 ms (missed cycles : 2). + 66.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262357 ms (missed cycles : 2).[0m ×2 + 67.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 68.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848302 ms (missed cycles : 3). + 68.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848302 ms (missed cycles : 3).[0m ×2 + 69.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989242 ms (missed cycles : 3). + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989242 ms (missed cycles : 3).[0m ×2 + 70.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms ×2 + 70.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337347 ms (missed cycles : 3). + 70.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337347 ms (missed cycles : 3).[0m ×2 + 71.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 71.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807059 ms (missed cycles : 3). + 71.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807059 ms (missed cycles : 3).[0m ×2 + 72.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 72.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848822 ms (missed cycles : 3). + 72.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848822 ms (missed cycles : 3).[0m ×2 + 72.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 73.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345039 ms (missed cycles : 3). + 73.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345039 ms (missed cycles : 3).[0m ×2 + 73.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 74.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 74.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810469 ms (missed cycles : 2). + 74.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810469 ms (missed cycles : 2).[0m ×2 + 75.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641576 ms (missed cycles : 3). + 75.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641576 ms (missed cycles : 3).[0m ×2 + 75.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 76.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 76.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119123 ms (missed cycles : 2). + 76.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119123 ms (missed cycles : 2).[0m ×2 + 77.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787841760.89446568 seconds ×3 + 77.74sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 77.74sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 77.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852611 ms (missed cycles : 2). + 77.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852611 ms (missed cycles : 2).[0m ×2 + 77.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.184ms + 78.28sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787841761.48007488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786541 ms (missed cycles : 2). + 78.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786541 ms (missed cycles : 2).[0m ×2 + 79.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3). + 79.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	185 warnings · 171 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.36sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.36sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229613 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229613 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029621 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029621 ms (missed cycles : 3).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799845 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799845 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.240ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.193ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921636 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921636 ms (missed cycles : 2).[0m ×2 + 10.82sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.051ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.484ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521183 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521183 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.653ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.830ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699370 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699370 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.204ms + 13.51sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.895ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824820 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824820 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219196 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219196 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847173 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847173 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577693 ms (missed cycles : 4). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577693 ms (missed cycles : 4).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318239 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318239 ms (missed cycles : 2).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953601 ms (missed cycles : 3). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953601 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861370 ms (missed cycles : 5). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861370 ms (missed cycles : 5).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429816 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429816 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298208 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298208 ms (missed cycles : 2).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757940 ms (missed cycles : 3). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757940 ms (missed cycles : 3).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598196 ms (missed cycles : 3). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598196 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195642 ms (missed cycles : 4). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195642 ms (missed cycles : 4).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902416 ms (missed cycles : 3). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902416 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895457 ms (missed cycles : 3). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895457 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787045 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787045 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816156 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816156 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874956 ms (missed cycles : 2). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874956 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790312 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790312 ms (missed cycles : 3).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332258 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332258 ms (missed cycles : 3).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708817 ms (missed cycles : 4). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708817 ms (missed cycles : 4).[0m ×2 + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852930 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852930 ms (missed cycles : 3).[0m ×2 + 35.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 35.79sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205144 ms (missed cycles : 4). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205144 ms (missed cycles : 4).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817118 ms (missed cycles : 3). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817118 ms (missed cycles : 3).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200316 ms (missed cycles : 2). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200316 ms (missed cycles : 2).[0m ×2 + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806119 ms (missed cycles : 2). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806119 ms (missed cycles : 2).[0m ×2 + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735715 ms (missed cycles : 2). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735715 ms (missed cycles : 2).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919292 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919292 ms (missed cycles : 2).[0m ×2 + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813732 ms (missed cycles : 3). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813732 ms (missed cycles : 3).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459063 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459063 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138063 ms (missed cycles : 5). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138063 ms (missed cycles : 5).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313803 ms (missed cycles : 4). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313803 ms (missed cycles : 4).[0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545587 ms (missed cycles : 4). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545587 ms (missed cycles : 4).[0m ×2 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082874 ms (missed cycles : 2). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082874 ms (missed cycles : 2).[0m ×2 + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154650 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154650 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750885 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750885 ms (missed cycles : 3).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645848 ms (missed cycles : 3). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645848 ms (missed cycles : 3).[0m ×2 + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785925 ms (missed cycles : 3). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785925 ms (missed cycles : 3).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004998 ms (missed cycles : 2). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004998 ms (missed cycles : 2).[0m ×2 + 54.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018890 ms (missed cycles : 4). + 54.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018890 ms (missed cycles : 4).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999590 ms (missed cycles : 2). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999590 ms (missed cycles : 2).[0m ×2 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199145 ms (missed cycles : 4). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199145 ms (missed cycles : 4).[0m ×2 + 56.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247485 ms (missed cycles : 4). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247485 ms (missed cycles : 4).[0m ×2 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804380 ms (missed cycles : 3). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804380 ms (missed cycles : 3).[0m ×2 + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470716 ms (missed cycles : 3). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470716 ms (missed cycles : 3).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789761 ms (missed cycles : 3). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789761 ms (missed cycles : 3).[0m ×2 + 61.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787841824.61024213 seconds ×3 + 61.55sWARNlocal_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. + 61.55sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.951ms + 61.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049777 ms (missed cycles : 2). + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049777 ms (missed cycles : 2).[0m ×2 + 62.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787841825.20167232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.39sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 62.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858129 ms (missed cycles : 3). + 63.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858129 ms (missed cycles : 3).[0m ×2 + 64.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2). + 64.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	184 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 0.68sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.68sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 0.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 1.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 2.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.35sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.35sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.35sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.35sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787841524.70087481 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787841525.27918196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136487 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136487 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979585 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979585 ms (missed cycles : 2).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.905ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194735 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194735 ms (missed cycles : 2).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.541ms + 10.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789703 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789703 ms (missed cycles : 2).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628338 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628338 ms (missed cycles : 2).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 12.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043361 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043361 ms (missed cycles : 3).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 13.34sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741931 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741931 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767666 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767666 ms (missed cycles : 2).[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052312 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052312 ms (missed cycles : 2).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190196 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190196 ms (missed cycles : 2).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761307 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761307 ms (missed cycles : 3).[0m ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740307 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740307 ms (missed cycles : 2).[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592626 ms (missed cycles : 3).[0m ×2 + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922590 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922590 ms (missed cycles : 3).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684752 ms (missed cycles : 3). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684752 ms (missed cycles : 3).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941402 ms (missed cycles : 3). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941402 ms (missed cycles : 3).[0m ×2 + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383466 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383466 ms (missed cycles : 3).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916946 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916946 ms (missed cycles : 3).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515741 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515741 ms (missed cycles : 4).[0m ×2 + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916599 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916599 ms (missed cycles : 3).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498826 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498826 ms (missed cycles : 2).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915396 ms (missed cycles : 2). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915396 ms (missed cycles : 2).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181833 ms (missed cycles : 4). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181833 ms (missed cycles : 4).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972777 ms (missed cycles : 3). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972777 ms (missed cycles : 3).[0m ×2 + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 33.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807268 ms (missed cycles : 5). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807268 ms (missed cycles : 5).[0m ×2 + 33.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974530 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974530 ms (missed cycles : 2).[0m ×2 + 34.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662487 ms (missed cycles : 5). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662487 ms (missed cycles : 5).[0m ×2 + 35.62sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845203 ms (missed cycles : 2). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845203 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097886 ms (missed cycles : 4). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097886 ms (missed cycles : 4).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560207 ms (missed cycles : 3). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560207 ms (missed cycles : 3).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714283 ms (missed cycles : 4). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714283 ms (missed cycles : 4).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346498 ms (missed cycles : 4). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346498 ms (missed cycles : 4).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715886 ms (missed cycles : 2). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715886 ms (missed cycles : 2).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553361 ms (missed cycles : 5). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553361 ms (missed cycles : 5).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767904 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767904 ms (missed cycles : 3).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738898 ms (missed cycles : 3). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738898 ms (missed cycles : 3).[0m ×2 + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766252 ms (missed cycles : 3). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766252 ms (missed cycles : 3).[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548739 ms (missed cycles : 3). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548739 ms (missed cycles : 3).[0m ×2 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257243 ms (missed cycles : 3). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257243 ms (missed cycles : 3).[0m ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386085 ms (missed cycles : 4). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386085 ms (missed cycles : 4).[0m ×2 + 49.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388246 ms (missed cycles : 3). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388246 ms (missed cycles : 3).[0m ×2 + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552289 ms (missed cycles : 3). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552289 ms (missed cycles : 3).[0m ×2 + 52.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 52.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040027 ms (missed cycles : 3). + 52.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040027 ms (missed cycles : 3).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918289 ms (missed cycles : 2). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918289 ms (missed cycles : 2).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405020 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405020 ms (missed cycles : 2).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939033 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939033 ms (missed cycles : 3).[0m ×2 + 56.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 57.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 57.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 59.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 60.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 60.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 61.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 61.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 61.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 61.39sWARNlocal_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. + 61.39sWARNlocal_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. + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 61.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.20sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 62.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.91sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 63.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.8s	181 warnings · 192 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787841620.69406056 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.701ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787841621.28032684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121570 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121570 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705225 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705225 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.629ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171104 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171104 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.670ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.390ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485966 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485966 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.714ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.010ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729896 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729896 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.494ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.945ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597249 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597249 ms (missed cycles : 2).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 7.219ms + 13.60sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 4.354ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497121 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497121 ms (missed cycles : 3).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.841ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650231 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650231 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000196 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000196 ms (missed cycles : 2).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340963 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340963 ms (missed cycles : 3).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044164 ms (missed cycles : 3). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044164 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220387 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220387 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948254 ms (missed cycles : 3). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948254 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108359 ms (missed cycles : 6). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108359 ms (missed cycles : 6).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439832 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439832 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102991 ms (missed cycles : 3). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102991 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042124 ms (missed cycles : 4). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042124 ms (missed cycles : 4).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864165 ms (missed cycles : 3). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864165 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359164 ms (missed cycles : 3). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359164 ms (missed cycles : 3).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×4 + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321714 ms (missed cycles : 4). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321714 ms (missed cycles : 4).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733444 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733444 ms (missed cycles : 2).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074871 ms (missed cycles : 4). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074871 ms (missed cycles : 4).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683889 ms (missed cycles : 4). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683889 ms (missed cycles : 4).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618110 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618110 ms (missed cycles : 3).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562083 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562083 ms (missed cycles : 3).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066334 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066334 ms (missed cycles : 2).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845842 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845842 ms (missed cycles : 3).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431259 ms (missed cycles : 4). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431259 ms (missed cycles : 4).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252677 ms (missed cycles : 4). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252677 ms (missed cycles : 4).[0m ×2 + 36.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.10sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.63sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173358 ms (missed cycles : 3). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173358 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974257 ms (missed cycles : 2). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974257 ms (missed cycles : 2).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313422 ms (missed cycles : 4). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313422 ms (missed cycles : 4).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708627 ms (missed cycles : 3). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708627 ms (missed cycles : 3).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719956 ms (missed cycles : 3). + 42.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719956 ms (missed cycles : 3).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 43.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232509 ms (missed cycles : 4). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232509 ms (missed cycles : 4).[0m ×2 + 43.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303826 ms (missed cycles : 2). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303826 ms (missed cycles : 2).[0m ×2 + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254657 ms (missed cycles : 4). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254657 ms (missed cycles : 4).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517022 ms (missed cycles : 2). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517022 ms (missed cycles : 2).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201674 ms (missed cycles : 2). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201674 ms (missed cycles : 2).[0m ×2 + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466236 ms (missed cycles : 4). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466236 ms (missed cycles : 4).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264613 ms (missed cycles : 2). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264613 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582447 ms (missed cycles : 3). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582447 ms (missed cycles : 3).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458299 ms (missed cycles : 3). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458299 ms (missed cycles : 3).[0m ×2 + 52.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 52.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485274 ms (missed cycles : 3). + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485274 ms (missed cycles : 3).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088064 ms (missed cycles : 3). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088064 ms (missed cycles : 3).[0m ×2 + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 54.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979700 ms (missed cycles : 2). + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979700 ms (missed cycles : 2).[0m ×2 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978904 ms (missed cycles : 3). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978904 ms (missed cycles : 3).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 57.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783711 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783711 ms (missed cycles : 3).[0m ×2 + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087179 ms (missed cycles : 3). + 59.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087179 ms (missed cycles : 3).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 59.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787841676.52046347 seconds ×3 + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-2.54, 11.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.346ms + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450674 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450674 ms (missed cycles : 3).[0m ×2 + 60.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787841677.10236907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.66sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137694 ms (missed cycles : 2). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137694 ms (missed cycles : 2).[0m ×2 + 62.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885327 ms (missed cycles : 3). + 62.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885327 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 266 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681827 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681827 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211673 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211673 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595210 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595210 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145509 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145509 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889608 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889608 ms (missed cycles : 3).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143182 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143182 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066394 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066394 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497408 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497408 ms (missed cycles : 3).[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359606 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359606 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584100 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584100 ms (missed cycles : 3).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933373 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933373 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063134 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063134 ms (missed cycles : 2).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797546 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797546 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585703 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585703 ms (missed cycles : 2).[0m ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232952 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232952 ms (missed cycles : 2).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713247 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713247 ms (missed cycles : 3).[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188353 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188353 ms (missed cycles : 2).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.218ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521702 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521702 ms (missed cycles : 3).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738644 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738644 ms (missed cycles : 2).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100429 ms (missed cycles : 3). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100429 ms (missed cycles : 3).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734594 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734594 ms (missed cycles : 3).[0m ×2 + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161842 ms (missed cycles : 2). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161842 ms (missed cycles : 2).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987354 ms (missed cycles : 2). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987354 ms (missed cycles : 2).[0m ×2 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239107 ms (missed cycles : 3). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239107 ms (missed cycles : 3).[0m ×2 + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260428 ms (missed cycles : 2). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260428 ms (missed cycles : 2).[0m ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990188 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990188 ms (missed cycles : 2).[0m ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493082 ms (missed cycles : 3). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493082 ms (missed cycles : 3).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337643 ms (missed cycles : 3). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337643 ms (missed cycles : 3).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595829 ms (missed cycles : 3). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595829 ms (missed cycles : 3).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801464 ms (missed cycles : 2). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801464 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815448 ms (missed cycles : 2). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815448 ms (missed cycles : 2).[0m ×2 + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117619 ms (missed cycles : 3). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117619 ms (missed cycles : 3).[0m ×2 + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550773 ms (missed cycles : 3). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550773 ms (missed cycles : 3).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086971 ms (missed cycles : 2). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086971 ms (missed cycles : 2).[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3).[0m ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 47.34sINFOjoint_trajectory_controllerGoal reached, success! + 47.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 47.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.40sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.41sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.42sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 47.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 48.99sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 48.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	114 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665794 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665794 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523135 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523135 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803684 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803684 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787841588.19722390 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453567 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453567 ms (missed cycles : 3).[0m ×2 + 4.02sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.05sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327904 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327904 ms (missed cycles : 3).[0m ×2 + 4.37sWARNglobal_costmap.global_costmapSensor origin at (0.26, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787841589.78384137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 5.37sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419866 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419866 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762606 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762606 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.09sINFOjoint_trajectory_controllerReceived new action goal + 7.09sINFOjoint_trajectory_controllerAccepted new action goal + 7.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155706 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155706 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296057 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296057 ms (missed cycles : 2).[0m ×2 + 8.81sINFOros2_control_nodeMuJoCo sim: 0.59% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571157 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571157 ms (missed cycles : 3).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.712ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.197ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106200 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106200 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.857ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.502ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275335 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275335 ms (missed cycles : 4).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.788ms + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.141ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126073 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126073 ms (missed cycles : 4).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.136ms + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000997 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000997 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 4063 particles 723 points - 7.114ms + 14.71sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 5.174ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409564 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409564 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.671ms + 15.70sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.388ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389196 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389196 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527802 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527802 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349748 ms (missed cycles : 5). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349748 ms (missed cycles : 5).[0m ×2 + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786240 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786240 ms (missed cycles : 2).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520147 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520147 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986738 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986738 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683693 ms (missed cycles : 3). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683693 ms (missed cycles : 3).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345632 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345632 ms (missed cycles : 3).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772320 ms (missed cycles : 3). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772320 ms (missed cycles : 3).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979438 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979438 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743684 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743684 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918291 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918291 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533177 ms (missed cycles : 3). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533177 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750512 ms (missed cycles : 4). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750512 ms (missed cycles : 4).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089795 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089795 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3).[0m ×2 + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2).[0m ×2 + 34.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 35.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787841620.69406056 seconds ×3 + 35.55sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.55sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.701ms + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2).[0m ×2 + 36.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787841621.28032684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.46sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.1s	65 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247485 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247485 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804380 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804380 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470716 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470716 ms (missed cycles : 3).[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789761 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789761 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787841824.61024213 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.77sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.80sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.89sWARNlocal_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. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.951ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049777 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049777 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787841825.20167232 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 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858129 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858129 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837594 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837594 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329696 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329696 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765639 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765639 ms (missed cycles : 3).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573620 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573620 ms (missed cycles : 3).[0m ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 10.89sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725280 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725280 ms (missed cycles : 3).[0m ×2 + 11.88sINFOobjective_server_nodeFound path in 33 iterations (0.0345623 s). ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.41sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196958 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196958 ms (missed cycles : 3).[0m ×2 + 13.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.09sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 13.16sINFOros2_control_nodeMuJoCo sim: 0.80% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868625 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868625 ms (missed cycles : 3).[0m ×2 + 13.87sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380581 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380581 ms (missed cycles : 3).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.290ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2).[0m ×2 + 16.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.202ms + 16.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 18.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.646ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3).[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2).[0m ×2 + 19.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787841840.71095848 seconds ×3 + 20.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.226ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2).[0m ×2 + 20.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787841841.32260013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.49sINFOmove_groupClearing octomap...[0m ×2 + 20.49sINFOmove_groupOctomap cleared.[0m ×2 + 21.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787841841.97277021 seconds ×3 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2).[0m ×2 + 21.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787841842.55713034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787841843.10725713 seconds ×3 + 22.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	95 errors · 36 warnings · 431 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.646ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787841840.71095848 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.226ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787841841.32260013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.54sINFOmove_groupClearing octomap...[0m ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787841841.97277021 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787841842.55713034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787841843.10725713 seconds ×3 + 5.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751401 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751401 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148100 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148100 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771835 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771835 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347790 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347790 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416159 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416159 ms (missed cycles : 3).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304137 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304137 ms (missed cycles : 2).[0m ×2 + 11.59sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.64sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORweb_video_auth_proxy-35process has died [pid 9832, 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 + 11.65sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.68sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORweb_bridge_auth_proxy-34process has died [pid 9831, 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 + 11.68sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.75sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.78sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.80sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.82sINFOvideo_server-33process has finished cleanly [pid 9830] ×2 + 11.82sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180063 ms (missed cycles : 3). + 11.85sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.87sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.90sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.93sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.96sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.98sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.99sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.02sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.04sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9829] ×2 + 12.06sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.09sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.09sINFOcontroller_managerShutdown request received.... + 12.09sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.09sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.09sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.09sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.09sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.09sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.09sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.09sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.09sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.09sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.09sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.09sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.09sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.09sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.09sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.09sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.09sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.09sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.10sINFOcontroller_managerShutting down the controller manager. + 12.11sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.12sERRORmove_group-21process has died [pid 9797, 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_1i3lo1cy --params-file /tmp/launch_params_tr2c800h --params-file /tmp/launch_params_jdfu86tf --params-file /tmp/launch_params_q033xxi3 --params-file /tmp/launch_params_ixfexyzs --params-file /tmp/launch_params_xs1plvhi']. ×2 + 12.14sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.14sINFOui_teleop_bridge-30process has finished cleanly [pid 9827] ×2 + 12.14sINFOcomponent_container_mt-28process has finished cleanly [pid 9825] ×2 + 12.16sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.17sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787841849.670 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.18sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.19sINFOexecute_objective_bridge-29process has finished cleanly [pid 9826] ×2 + 12.20sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.23sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.25sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.25sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.25sINFOmap_serverDeactivating + 12.25sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.26sINFOmap_serverCleaning up + 12.26sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.26sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.27sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.27sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.27sINFOcontroller_serverDeactivating + 12.27sINFOlocal_costmap.local_costmapDeactivating + 12.27sINFOvideo_server2026/08/27 14:44:09 INF shutting down gracefully ×2 + 12.27sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.27sINFOvideo_server2026/08/27 14:44:09 INF [WebRTC] closing ×2 + 12.27sINFOvideo_server2026/08/27 14:44:09 INF [RTSP] closing ×2 + 12.27sINFOvideo_server2026/08/27 14:44:09 INF waiting for running hooks ×2 + 12.27sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180063 ms (missed cycles : 3).[0m ×2 + 12.28sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.28sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.28sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.28sERRORamclThe bond connection to the lifecycle manager has been broken + 12.28sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.28sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.28sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.28sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.28sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.29sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.29sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.29sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.29sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.29sERRORmove_groupStack trace (most recent call last) in thread 10424: ×2 + 12.29sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.29sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe95a28a63, in __clone ×2 + 12.29sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe9599baa3, in ×2 + 12.29sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe95c2ddb3, in ×2 + 12.29sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7efe9639ea47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.29sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe95fbf620, in rclcpp::Rate::sleep() ×2 + 12.29sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe95f01d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.29sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe95ec3087, in ×2 + 12.29sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe95bfc390, in __cxa_throw ×2 + 12.29sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe95be6a54, in std::terminate() ×2 + 12.29sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe95bfc0d9, in ×2 + 12.29sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe95be6ff4, in ×2 + 12.29sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe959278fe, in abort ×2 + 12.29sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe9594427d, in raise ×2 + 12.29sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe9599db2c, in pthread_kill ×2 + 12.29sERRORmove_groupAborted (Signal sent by tkill() 9797 0) ×2 + 12.29sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.29sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.29sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.29sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.29sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.29sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.29sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.29sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.29sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.29sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.30sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.30sINFOodom_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 + 12.30sINFOodom_qos_relay.pymain() ×2 + 12.30sINFOodom_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 + 12.30sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.30sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.30sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.30sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.30sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.30sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.30sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.30sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.30sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.30sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.30sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.30sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.30sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.30sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.30sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.31sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.31sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.31sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.34sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.35sINFOcontroller_serverCleaning up + 12.35sINFOlocal_costmap.local_costmapCleaning up + 12.39sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.39sINFOsmoother_serverDeactivating + 12.39sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.40sINFOsmoother_serverCleaning up + 12.42sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.42sINFOplanner_serverDeactivating + 12.42sINFOglobal_costmap.global_costmapDeactivating + 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 + 12.50sERRORcomponent_container_isolated-2process has died [pid 9701, 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_esygrka_ --params-file /tmp/launch_params_2oabrf5p -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×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 + 12.76sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.76sINFOplanner_serverDestroying bond (planner_server) 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 + 12.77sINFOplanner_serverCleaning up + 12.79sINFOglobal_costmap.global_costmapCleaning up + 12.80sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.80sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.83sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.83sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.83sINFObt_navigatorCleaning up + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.88sERRORplanner_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: 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 + 12.94sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.94sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.94sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.94sINFObehavior_serverCleaning up + 12.98sINFObt_navigatorCompleted Cleaning up + 12.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.99sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9822] ×2 + 13.00sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.00sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.00sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.00sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.00sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.00sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.01sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9821] ×2 + 13.08sINFOwaypoint_manager_node-23process has finished cleanly [pid 9799] ×2 + 13.10sINFOparameter_manager_node-22process has finished cleanly [pid 9798] ×2 + 13.10sINFOcomponent_container_mt-27process has finished cleanly [pid 9824] ×2 + 13.14sINFOobjective_server_node[2026-08-27 14:44:10.935] [moveit_pro_license] [info] ×2 + 13.14sINFOobjective_server_node************************************************* ×4 + 13.14sINFOobjective_server_node* MoveIt Pro License ×2 + 13.14sINFOobjective_server_node* Application has successfully terminated ×2 + 13.16sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9707] ×2 + 13.18sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9706] ×2 + 13.21sINFOobjective_server_node_main-26process has finished cleanly [pid 9823] ×2 + 13.21sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.24sINFOstatic_transform_publisher-4process has finished cleanly [pid 9703] ×2 + 13.27sINFOstatic_transform_publisher-3process has finished cleanly [pid 9702] ×2 + 13.27sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9705] ×2 + 13.28sERRORodom_qos_relay.py-5process has died [pid 9704, 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 + 13.31sERRORcomponent_container_isolated-1process has died [pid 9700, 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_esygrka_ --params-file /tmp/launch_params_22hx6_lo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.46sINFOweb_bridge-31process has finished cleanly [pid 9828] ×2 + 14.46sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.82sINFOros2_control_node-9process has finished cleanly [pid 9708] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 55 warnings · 113 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978904 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978904 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783711 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783711 ms (missed cycles : 3).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087179 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087179 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 3.91sINFOjoint_trajectory_controllerGoal reached, success! + 3.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787841676.52046347 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.54, 11.24) 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 - 5.346ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450674 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450674 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787841677.10236907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137694 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137694 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885327 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885327 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.05sINFOjoint_trajectory_controllerReceived new action goal + 7.05sINFOjoint_trajectory_controllerAccepted new action goal + 7.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390269 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390269 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216990 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216990 ms (missed cycles : 2).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.900ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.957ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126052 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126052 ms (missed cycles : 3).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.096ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.158ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243210 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243210 ms (missed cycles : 3).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.641ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.765ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432711 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432711 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037614 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037614 ms (missed cycles : 3).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.940ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.618ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322240 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322240 ms (missed cycles : 2).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 14.57sINFOobjective_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 + 14.57sINFOjoint_trajectory_controllerGot request to cancel goal + 14.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.60sERRORobjective_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: 1787841687.19142866 seconds ×3 + 14.61sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 7.216ms + 14.65sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.65sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.705ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268609 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268609 ms (missed cycles : 3).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787841687.77429414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888208 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888208 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481430 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481430 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	49 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665794 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665794 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523135 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523135 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803684 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803684 ms (missed cycles : 3).[0m ×2 + 10.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787841588.19722390 seconds ×3 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453567 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453567 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327904 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327904 ms (missed cycles : 3).[0m ×2 + 11.82sWARNglobal_costmap.global_costmapSensor origin at (0.26, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787841589.78384137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.43sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419866 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419866 ms (missed cycles : 3).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762606 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762606 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	43 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345039 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810469 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810469 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641576 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641576 ms (missed cycles : 3).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119123 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119123 ms (missed cycles : 2).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787841760.89446568 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.15sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852611 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852611 ms (missed cycles : 2).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.184ms + 4.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787841761.48007488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786541 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786541 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 10.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.3s	30 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 4.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787841524.70087481 seconds ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787841525.27918196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.202ms + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 2.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.646ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3).[0m ×2 + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787841840.71095848 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.226ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787841841.32260013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787841841.97277021 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787841842.55713034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787841843.10725713 seconds ×3 + 6.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751401 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751401 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148100 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148100 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 4.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 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 1.770964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770964 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759541 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398544 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 4.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787841620.69406056 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.701ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787841621.28032684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 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 3.363657 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363657 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030200 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137281 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004085 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787841767.33021045 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203257 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787841767.93011999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180622 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763677 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[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 2.882649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882649 ms (missed cycles : 2).[0m ×2 + 0.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.68sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787841521.36879587 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343081 ms (missed cycles : 3).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.045ms + 1.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787841521.96073771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473145 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.4398e-05 s). ×2 + 2.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOjoint_trajectory_controllerReceived new action goal + 2.35sINFOjoint_trajectory_controllerAccepted new action goal + 2.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897796 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787841524.70087481 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131120 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787841525.27918196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455944 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058673 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 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	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400847 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785524 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323655 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787841581.89933705 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822814 ms (missed cycles : 4).[0m ×2 + 4.30sWARNlocal_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. + 4.30sWARNlocal_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. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.676ms + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787841582.49707484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308836 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.82sWARNglobal_costmap.global_costmapSensor origin at (0.25, -2.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149094 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787841620.69406056 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.701ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787841621.28032684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144958 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826885 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034338 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787841620.69406056 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.701ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242944 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787841621.28032684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618061 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674398 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671119 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.202ms + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730671 ms (missed cycles : 2).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 2.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.646ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484923 ms (missed cycles : 3).[0m ×2 + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266138 ms (missed cycles : 2).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787841840.71095848 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.226ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601094 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787841841.32260013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787841841.97277021 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610565 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787841842.55713034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787841843.10725713 seconds ×3 + 6.49sWARNINGlaunchuser 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	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2

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

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✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_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 + 7.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922015 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 2.52sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 3.77sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.80sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.35sINFOmove_groupClearing octomap...[0m ×2 + 4.35sINFOmove_groupOctomap cleared.[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 6.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[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 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[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 1.922015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922015 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 2.52sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 3.77sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.80sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.35sINFOmove_groupClearing octomap...[0m ×2 + 4.35sINFOmove_groupOctomap cleared.[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[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 2.997493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350497 ms (missed cycles : 3).[0m ×2 + 0.43sINFOros2_control_nodeMuJoCo sim: 2.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889938 ms (missed cycles : 2).[0m ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285402 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787841475.81387734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787841475.82406807 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787841476.40573692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787841476.41858244 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829808 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787841476.99432349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787841477.14485121 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845116 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787841477.75419307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787841477.82432938 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787841478.40724993 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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649863 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525533 ms (missed cycles : 2).[0m ×2