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	33.2s	12 errors · 312 warnings · 1394 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-25-22-02-07-772978-90d97d77655a-9352 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.98sINFOstatic_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' + 13.98sINFOstatic_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' + 14.06sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.07sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.07sINFOcontroller_managerupdate rate is 600 Hz + 14.07sINFOcontroller_managerOverruns handling is : enabled + 14.07sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.07sWARNcontroller_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. + 14.08sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268696 ms (missed cycles : 2). + 14.11sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.12sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.16sINFOcontroller_serverCreating controller server + 14.20sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.20sINFOlocal_costmap.local_costmapCreating Costmap + 14.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.28sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.30sINFOros2_control_node-9process started with pid [9410] ×2 + 14.30sINFOmove_group-21process started with pid [9517] ×2 + 14.30sINFOparameter_manager_node-22process started with pid [9518] ×2 + 14.30sINFOwaypoint_manager_node-23process started with pid [9519] ×2 + 14.30sINFOmove_joint_resampler_node-24process started with pid [9524] ×2 + 14.30sINFOmove_end_effector_resampler_node-25process started with pid [9527] ×2 + 14.30sINFOobjective_server_node_main-26process started with pid [9528] ×2 + 14.30sINFOcomponent_container_mt-27process started with pid [9529] ×2 + 14.30sINFOcomponent_container_mt-28process started with pid [9530] ×2 + 14.30sINFOexecute_objective_bridge-29process started with pid [9531] ×2 + 14.31sINFOui_teleop_bridge-30process started with pid [9532] ×2 + 14.31sINFOsmoother_serverCreating smoother server + 14.31sINFOweb_bridge-31process started with pid [9533] ×2 + 14.32sINFOtf2_web_republisher_node-32process started with pid [9534] ×2 + 14.32sINFOvideo_server-33process started with pid [9535] ×2 + 14.32sINFOweb_bridge_auth_proxy-34process started with pid [9536] ×2 + 14.32sINFOweb_video_auth_proxy-35process started with pid [9537] ×2 + 14.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.35sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.35sINFOmap_serverCreating + 14.35sINFOcomponent_container_isolated-1process started with pid [9402] ×2 + 14.35sINFOcomponent_container_isolated-2process started with pid [9403] ×2 + 14.35sINFOstatic_transform_publisher-3process started with pid [9404] ×2 + 14.35sINFOstatic_transform_publisher-4process started with pid [9405] ×2 + 14.35sINFOodom_qos_relay.py-5process started with pid [9406] ×2 + 14.35sINFOforward_stereo_publisher.py-6process started with pid [9407] ×2 + 14.35sINFOscan_to_scan_filter_chain-7process started with pid [9408] ×2 + 14.35sINFOscan_to_scan_filter_chain-8process started with pid [9409] ×2 + 14.35sINFOros2-10process started with pid [9489] ×2 + 14.35sINFOros2-11process started with pid [9507] ×2 + 14.35sINFOros2-12process started with pid [9508] ×2 + 14.36sINFOros2-13process started with pid [9509] ×2 + 14.36sINFOros2-14process started with pid [9510] ×2 + 14.36sINFOros2-15process started with pid [9511] ×2 + 14.36sINFOros2-16process started with pid [9512] ×2 + 14.36sINFOros2-17process started with pid [9513] ×2 + 14.36sINFOros2-18process started with pid [9514] ×2 + 14.36sINFOros2-19process started with pid [9515] ×2 + 14.36sINFOros2-20process started with pid [9516] ×2 + 14.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.42sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.44sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.47sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.47sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.47sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.47sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.47sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.48sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.48sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.48sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.48sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.48sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.48sINFOplanner_serverCreating + 14.48sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.48sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268696 ms (missed cycles : 2).[0m ×2 + 14.50sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.51sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.51sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.51sINFOglobal_costmap.global_costmapCreating Costmap + 14.51sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.51sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.55sINFOlifecycle_manager_localizationCreating + 14.57sINFObehavior_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. + 14.58sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.60sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.60sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.60sINFOmap_serverConfiguring + 14.62sINFOrobot_state_publisherRobot initialized + 14.62sINFOcontroller_managerReceived robot description from topic. + 14.62sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.62sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.63sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.63sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.66sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.69sINFObt_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. + 14.70sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.70sINFOamclConfiguring + 14.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.70sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.71sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.71sINFObt_navigatorCreating + 14.71sINFOmap_serverActivating + 14.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.71sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.72sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.77sINFOwaypoint_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. + 14.78sINFOwaypoint_followerCreating + 14.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.82sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.82sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.82sINFOamclActivating + 14.82sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.83sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.83sINFOamclSubscribed to map_topic: /map + 14.83sINFOamclSubscribed to scan_topic: /scan_merged + 14.83sINFOamclCreated reinitialize_global_localization service + 14.83sINFOamclCreated request_nomotion_update service + 14.84sINFOvelocity_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. + 14.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.85sINFOamclA new map was received + 14.85sINFOamclInitializing particle filter instance + 14.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.88sINFOlifecycle_manager_navigationCreating + 14.91sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.95sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.95sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.95sINFOcontroller_serverConfiguring controller interface + 14.95sINFOcontroller_servergetting progress checker plugins.. + 14.95sINFOcontroller_servergetting goal checker plugins.. + 14.95sINFOcontroller_serverController frequency set to 20.0000Hz + 14.95sINFOlocal_costmap.local_costmapConfiguring + 14.96sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.98sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.99sWARNlaser_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. + 14.99sWARNlaser_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. + 15.00sWARNscan_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 + 15.03sINFOvideo_server2026/08/25 22:02:26 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.03sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.03sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.04sINFOvideo_server2026/08/25 22:02:26 INF configuration loaded from /tmp/moveit-webrtc-ypkocfsj/mediamtx.yml ×2 + 15.04sINFOvideo_server2026/08/25 22:02:26 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.04sINFOvideo_server2026/08/25 22:02:26 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.07sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.271614 seconds + 15.08sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.08sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.08sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.08sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.08sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.08sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.09sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.09sINFOmove_groupLoaded robot model in 0.271614 seconds[0m ×2 + 15.09sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.09sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501424 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501424 ms (missed cycles : 5).[0m ×2 + 15.12sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.13sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.13sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.14sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.14sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.14sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.15sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.16sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.16sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.17sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.17sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.17sINFOcontroller_serverOptimizer reset ×2 + 15.18sINFOcontroller_serverController Server has FollowPath controllers available. + 15.20sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.20sINFOsmoother_serverConfiguring smoother server + 15.22sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.23sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.24sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.24sINFOplanner_serverConfiguring + 15.24sINFOglobal_costmap.global_costmapConfiguring + 15.25sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.26sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.26sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.26sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.26sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.30sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.30sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.30sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.34sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.34sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.34sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.35sINFOplanner_serverPlanner Server has GridBased planners available. + 15.37sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.38sINFObehavior_serverConfiguring + 15.39sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.40sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.40sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.41sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.42sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.43sINFObehavior_serverConfiguring spin + 15.44sINFObehavior_serverConfiguring backup + 15.45sINFObehavior_serverConfiguring drive_on_heading + 15.47sINFObehavior_serverConfiguring assisted_teleop + 15.49sINFObehavior_serverConfiguring wait + 15.50sINFOamclParticle filter initialization completed + 15.50sINFOamclInitializing particles from estimated pose and covariance + 15.50sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.50sINFObt_navigatorConfiguring + 15.50sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.51sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.51sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.51sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.51sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.51sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.52sWARNbt_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 + 15.80sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.91sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.91sINFOwaypoint_followerConfiguring + 15.96sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.97sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.97sINFOvelocity_smootherConfiguring velocity smoother + 15.98sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.98sINFOcontroller_serverActivating + 15.98sINFOlocal_costmap.local_costmapActivating + 15.98sINFOlocal_costmap.local_costmapChecking transform + 15.98sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×5 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491738 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491738 ms (missed cycles : 2).[0m ×2 + 16.27sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sINFOwaypoint_manager_nodeLoaded robot model in 0.400306 seconds[0m ×2 + 16.49sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.49sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.61sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.61sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.64sINFOmove_group[2026-08-25 22:02:27.942] [moveit_pro_license] [info] ×2 + 16.64sINFOmove_group************************************************* ×4 + 16.64sINFOmove_group* MoveIt Pro License ×2 + 16.64sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.98sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.98sINFOros2_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 + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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 + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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 + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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 + 17.06sWARNwaypoint_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. + 17.06sWARNwaypoint_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 + 17.06sWARNwaypoint_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 + 17.06sWARNwaypoint_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 + 17.07sWARNwaypoint_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. + 17.07sWARNwaypoint_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. + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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. + 17.07sWARNwaypoint_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. + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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 + 17.07sWARNwaypoint_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. + 17.07sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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. + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.08sWARNwaypoint_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 + 17.09sWARNwaypoint_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 + 17.12sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.12sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.13sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.13sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.13sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.13sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.13sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.13sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.14sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.14sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.15sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.15sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.50sINFOwaypoint_manager_node[2026-08-25 22:02:28.820] [moveit_pro_license] [info] ×2 + 17.50sINFOwaypoint_manager_node************************************************* ×4 + 17.50sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.50sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.81sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.81sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.82sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.89sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.89sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.89sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.89sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 17.89sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.89sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.89sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.89sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.89sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.89sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.89sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.89sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.89sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.89sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.89sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.89sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.89sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.89sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.89sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.89sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.89sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.89sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.89sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.89sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.90sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.90sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.90sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.90sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.92sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.92sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.92sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.03sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.03sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 18.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 18.15sINFOros2_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 + 18.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 18.15sWARNros2_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 + 18.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 18.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 18.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099199 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099199 ms (missed cycles : 2).[0m ×2 + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.25sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 4.117ms + 18.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.47sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.48sINFOlocal_costmap.local_costmapstart + 18.49sINFOobjective_server_node[2026-08-25 22:02:29.806] [moveit_pro_license] [info] ×2 + 18.49sINFOobjective_server_node************************************************* ×4 + 18.49sINFOobjective_server_node* MoveIt Pro License ×2 + 18.49sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.51sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.51sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.56sINFOros2-12process has finished cleanly [pid 9508] ×2 + 18.59sWARNcontroller_serverParameter controller_server.verbose not found + 18.59sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.59sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.60sINFOobjective_server_nodeLoaded robot model in 0.0443641 seconds[0m ×2 + 18.60sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.60sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 18.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 18.70sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.70sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.70sINFOsmoother_serverActivating + 18.70sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.77sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.79sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.80sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.80sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.80sINFOplanner_serverActivating + 18.80sINFOglobal_costmap.global_costmapActivating + 18.80sINFOglobal_costmap.global_costmapChecking transform + 18.80sINFOglobal_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 1787695350.101839 but the earliest data is at time 1787695350.528837, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.82sINFOmove_groupMoveGroup debug mode is ON + 18.82sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.83sINFOcomponent_container_mtLoaded robot model in 0.367503 seconds[0m ×2 + 18.83sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.83sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.98sINFOmove_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 ****************************************************** + 18.98sINFOmove_group ×8 + 18.98sINFOmove_group****************************************************** ×4 + 18.98sINFOmove_group* MoveGroup using: ×2 + 18.98sINFOmove_group* - apply_planning_scene_service ×2 + 18.98sINFOmove_group* - clear_octomap_service ×2 + 18.98sINFOmove_group* - get_group_urdf ×2 + 18.98sINFOmove_group* - load_geometry_from_file ×2 + 18.98sINFOmove_group* - get_planning_scene_service ×2 + 18.98sINFOmove_group* - kinematics_service ×2 + 18.98sINFOmove_group* - save_geometry_to_file ×2 + 18.98sINFOmove_group* - GetPlanningGroups ×2 + 18.98sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.98sINFOmove_group[0m ×2 + 18.98sINFOmove_group[92mYou can start planning now![0m ×2 + 19.13sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787695349.329 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 19.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 19.17sWARNobjective_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. + 19.17sWARNobjective_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. + 19.17sWARNobjective_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. + 19.17sWARNobjective_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. + 19.17sWARNobjective_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. + 19.18sWARNobjective_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. + 19.18sWARNobjective_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 + 19.18sWARNobjective_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 + 19.18sWARNobjective_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. + 19.18sWARNobjective_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. + 19.18sWARNobjective_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 + 19.18sWARNobjective_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. + 19.18sWARNobjective_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 + 19.18sWARNobjective_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 + 19.18sWARNobjective_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 + 19.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.18sWARNobjective_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 + 19.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.18sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 19.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.29sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.30sINFOglobal_costmap.global_costmapstart + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801408 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801408 ms (missed cycles : 2).[0m ×2 + 19.34sINFOros2_control_node[2026-08-25 22:02:30.658] [info] Controller state will be published at 20 Hz. ×2 + 19.34sINFOros2_control_node[2026-08-25 22:02:30.659] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.51sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.62sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.64sINFOcomponent_container_mt[2026-08-25 22:02:30.956] [moveit_pro_license] [info] ×2 + 19.64sINFOcomponent_container_mt************************************************* ×4 + 19.64sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.64sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 19.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 19.71sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 19.71sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 19.73sINFOros2-19process has finished cleanly [pid 9515] ×2 + 19.79sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 19.79sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 19.79sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.80sINFOplatform_velocity_controller_nav2configure successful + 19.80sINFOros2_control_nodeconfigure successful[0m ×6 + 20.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.16sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.16sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 20.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.16sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 20.21sINFOros2-15process has finished cleanly [pid 9511] ×2 + 20.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.23sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.23sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.24sINFOplatform_velocity_controllerconfigure successful + 20.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.25sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.25sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.36sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.36sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888146 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888146 ms (missed cycles : 3).[0m ×2 + 20.46sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.46sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.46sINFObehavior_serverActivating + 20.46sINFObehavior_serverActivating spin + 20.46sINFObehavior_serverActivating backup + 20.46sINFObehavior_serverActivating drive_on_heading + 20.46sINFObehavior_serverActivating assisted_teleop + 20.46sINFObehavior_serverActivating wait + 20.46sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.57sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.57sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.57sINFObt_navigatorActivating + 20.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.59sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 20.59sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 20.63sINFOros2-13process has finished cleanly [pid 9509] ×2 + 20.68sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.73sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.73sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.73sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.73sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.73sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.73sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.78sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.78sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.78sINFOwaypoint_followerActivating + 20.78sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.89sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.89sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.89sINFOvelocity_smootherActivating + 20.89sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.99sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.99sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.99sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.06sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.06sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.06sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.06sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 21.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 21.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 21.12sINFOros2-16process has finished cleanly [pid 9512] ×2 + 21.13sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.13sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.13sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.15sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.15sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863822 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863822 ms (missed cycles : 3).[0m ×2 + 21.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.51sINFOros2-11process has finished cleanly [pid 9507] ×2 + 21.56sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 21.56sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 21.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 22.12sINFOros2_control_node[2026-08-25 22:02:33.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.12sINFOros2_control_node[2026-08-25 22:02:33.441] [info] Controller state will be published at 10 Hz. ×2 + 22.12sINFOros2_control_node[2026-08-25 22:02:33.442] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957426 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957426 ms (missed cycles : 2).[0m ×2 + 22.48sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.48sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.48sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 22.48sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 22.53sINFOros2-17process has finished cleanly [pid 9513] ×2 + 22.54sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.54sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.54sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.54sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 23.11sINFOros2_control_node[2026-08-25 22:02:34.429] [info] Controller state will be published at 20 Hz. ×2 + 23.11sINFOros2_control_node[2026-08-25 22:02:34.430] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.47sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.47sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.47sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.47sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 23.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135660 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135660 ms (missed cycles : 3).[0m ×2 + 23.49sINFOros2-20process has finished cleanly [pid 9516] ×2 + 23.54sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.54sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.54sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.55sINFOforce_torque_sensor_broadcasterconfigure successful + 23.55sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.55sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.56sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.91sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.91sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.91sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.91sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 23.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 23.93sINFOros2-10process has finished cleanly [pid 9489] ×2 + 23.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.97sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 24.33sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 24.33sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 24.33sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e + 24.33sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 24.33sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 24.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_54gmp9y7 --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_gevaaji0 --params-file /tmp/launch_params_uugh9y9e [0m ×2 + 24.38sINFOros2-14process has finished cleanly [pid 9510] ×2 + 24.42sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 24.42sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 24.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 24.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792007 ms (missed cycles : 3). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792007 ms (missed cycles : 3).[0m ×2 + 24.93sINFOros2_control_node[2026-08-25 22:02:36.248] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.93sINFOros2_control_node[2026-08-25 22:02:36.249] [info] Controller state will be published at 10 Hz. ×2 + 24.93sINFOros2_control_node[2026-08-25 22:02:36.251] [info] VelocityForceController 'on_configure' succeeded. ×2 + 25.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 25.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 25.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.29sINFOros2-18process has finished cleanly [pid 9514] ×2 + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587667 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587667 ms (missed cycles : 3).[0m ×2 + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 26.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 27.93sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 30.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.28sINFOmove_groupClearing octomap...[0m ×2 + 30.28sINFOmove_groupOctomap cleared.[0m ×2 + 30.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 30.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 31.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 32.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.24sINFOobjective_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 + 32.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 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	72.6s	3 errors · 231 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.341ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805052 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805052 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.753ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366362 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366362 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.603ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274117 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274117 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.369ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.650ms + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409708 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409708 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.618ms + 4.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOjoint_trajectory_controllerGot request to cancel goal + 4.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.20sERRORobjective_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: 1787695572.15547562 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.677ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046214 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046214 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787695572.74810386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720566 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720566 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075904 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075904 ms (missed cycles : 4).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.45sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.45sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.45sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.45sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809558 ms (missed cycles : 4). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809558 ms (missed cycles : 4).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458134 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458134 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642596 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642596 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.228ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.230ms + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393429 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393429 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.260ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.811ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016015 ms (missed cycles : 2). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016015 ms (missed cycles : 2).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.092ms + 12.80sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 4.847ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698989 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698989 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 3.478ms + 13.79sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.731ms + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751733 ms (missed cycles : 3). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751733 ms (missed cycles : 3).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.031ms + 14.79sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.253ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006280 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006280 ms (missed cycles : 4).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948553 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948553 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553312 ms (missed cycles : 4). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553312 ms (missed cycles : 4).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424477 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424477 ms (missed cycles : 3).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309467 ms (missed cycles : 4). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309467 ms (missed cycles : 4).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437777 ms (missed cycles : 5). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437777 ms (missed cycles : 5).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms ×3 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966621 ms (missed cycles : 6). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966621 ms (missed cycles : 6).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165959 ms (missed cycles : 4). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165959 ms (missed cycles : 4).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235105 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235105 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760027 ms (missed cycles : 3). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760027 ms (missed cycles : 3).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850592 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850592 ms (missed cycles : 3).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342406 ms (missed cycles : 4). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342406 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680606 ms (missed cycles : 5). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680606 ms (missed cycles : 5).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500663 ms (missed cycles : 3). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500663 ms (missed cycles : 3).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065684 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065684 ms (missed cycles : 4).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 31.31sINFOros2_control_nodeMuJoCo sim: 6.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730300 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730300 ms (missed cycles : 2).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002743 ms (missed cycles : 4). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002743 ms (missed cycles : 4).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706174 ms (missed cycles : 4). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706174 ms (missed cycles : 4).[0m ×2 + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011217 ms (missed cycles : 4). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011217 ms (missed cycles : 4).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462776 ms (missed cycles : 4). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462776 ms (missed cycles : 4).[0m ×2 + 35.82sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.82sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.64sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118281 ms (missed cycles : 4). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118281 ms (missed cycles : 4).[0m ×2 + 37.55sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892885 ms (missed cycles : 2). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892885 ms (missed cycles : 2).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690033 ms (missed cycles : 3). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690033 ms (missed cycles : 3).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373084 ms (missed cycles : 4). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373084 ms (missed cycles : 4).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301479 ms (missed cycles : 2). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301479 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309996 ms (missed cycles : 4). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309996 ms (missed cycles : 4).[0m ×2 + 42.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780582 ms (missed cycles : 2). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780582 ms (missed cycles : 2).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443372 ms (missed cycles : 3). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443372 ms (missed cycles : 3).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243833 ms (missed cycles : 4). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243833 ms (missed cycles : 4).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050057 ms (missed cycles : 3). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050057 ms (missed cycles : 3).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488780 ms (missed cycles : 4). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488780 ms (missed cycles : 4).[0m ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922843 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922843 ms (missed cycles : 2).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849209 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849209 ms (missed cycles : 2).[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300531 ms (missed cycles : 4). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300531 ms (missed cycles : 4).[0m ×2 + 50.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737430 ms (missed cycles : 3). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737430 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 52.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501441 ms (missed cycles : 4). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501441 ms (missed cycles : 4).[0m ×2 + 53.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970979 ms (missed cycles : 2). + 53.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970979 ms (missed cycles : 2).[0m ×2 + 53.74sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393645 ms (missed cycles : 4). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393645 ms (missed cycles : 4).[0m ×2 + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699189 ms (missed cycles : 5). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699189 ms (missed cycles : 5).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808341 ms (missed cycles : 3). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808341 ms (missed cycles : 3).[0m ×2 + 57.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120573 ms (missed cycles : 4). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120573 ms (missed cycles : 4).[0m ×2 + 58.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187616 ms (missed cycles : 4). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187616 ms (missed cycles : 4).[0m ×2 + 59.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345649 ms (missed cycles : 3). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345649 ms (missed cycles : 3).[0m ×2 + 60.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210399 ms (missed cycles : 4). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210399 ms (missed cycles : 4).[0m ×2 + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465891 ms (missed cycles : 4). + 62.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465891 ms (missed cycles : 4).[0m ×2 + 62.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 62.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 63.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798529 ms (missed cycles : 2). + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798529 ms (missed cycles : 2).[0m ×2 + 63.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 64.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367003 ms (missed cycles : 2). + 64.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367003 ms (missed cycles : 2).[0m ×2 + 64.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 65.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521457 ms (missed cycles : 3). + 65.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521457 ms (missed cycles : 3).[0m ×2 + 65.53sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 66.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056579 ms (missed cycles : 2). + 66.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056579 ms (missed cycles : 2).[0m ×2 + 67.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934997 ms (missed cycles : 3). + 67.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934997 ms (missed cycles : 3).[0m ×2 + 68.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810114 ms (missed cycles : 3). + 68.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810114 ms (missed cycles : 3).[0m ×2 + 69.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852694 ms (missed cycles : 3). + 69.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852694 ms (missed cycles : 3).[0m ×2 + 69.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 70.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 70.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528260 ms (missed cycles : 2). + 70.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528260 ms (missed cycles : 2).[0m ×2 + 70.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 71.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 71.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767880 ms (missed cycles : 4). + 71.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767880 ms (missed cycles : 4).[0m ×2 + 71.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 72.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637367 ms (missed cycles : 3). + 72.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637367 ms (missed cycles : 3).[0m ×2 + 72.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 73.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 73.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790844 ms (missed cycles : 2). + 73.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790844 ms (missed cycles : 2).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 74.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542760 ms (missed cycles : 3). + 74.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542760 ms (missed cycles : 3).[0m ×2 + 74.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 75.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076224 ms (missed cycles : 5). + 75.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076224 ms (missed cycles : 5).[0m ×2 + 76.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579427 ms (missed cycles : 3). + 76.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579427 ms (missed cycles : 3).[0m ×2 + 76.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787695644.78826427 seconds ×3 + 76.94sWARNlocal_costmap.local_costmapSensor origin at (-2.28, 14.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.94sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.830ms + 77.04sWARNlocal_costmap.local_costmapSensor origin at (-0.97, 7.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.04sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 6.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.503ms + 77.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787695645.39323783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424446 ms (missed cycles : 4). + 77.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424446 ms (missed cycles : 4).[0m ×2 + 78.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648185 ms (missed cycles : 3). + 78.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648185 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	179 warnings · 172 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308470 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308470 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.63sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204273 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204273 ms (missed cycles : 2).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.057ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581176 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581176 ms (missed cycles : 3).[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.167ms + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.458ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023552 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023552 ms (missed cycles : 4).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.580ms + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.632ms + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259019 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259019 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.201ms + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.394ms + 11.54sINFOros2_control_nodeMuJoCo sim: 9.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038974 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038974 ms (missed cycles : 2).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.707ms + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.191ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248756 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248756 ms (missed cycles : 2).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.273ms + 13.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.554ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022627 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022627 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.900ms + 14.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.771ms + 15.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.862ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964714 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964714 ms (missed cycles : 3).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.465ms + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.348ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256969 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256969 ms (missed cycles : 5).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.358ms + 17.03sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 8.807ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474028 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474028 ms (missed cycles : 3).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 6.963ms + 18.03sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 4.668ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921520 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921520 ms (missed cycles : 3).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.713ms + 19.02sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.031ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124144 ms (missed cycles : 5). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124144 ms (missed cycles : 5).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189383 ms (missed cycles : 5). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189383 ms (missed cycles : 5).[0m ×2 + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618107 ms (missed cycles : 3). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618107 ms (missed cycles : 3).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229202 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229202 ms (missed cycles : 3).[0m ×2 + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558256 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558256 ms (missed cycles : 3).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465572 ms (missed cycles : 4). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465572 ms (missed cycles : 4).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458199 ms (missed cycles : 4). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458199 ms (missed cycles : 4).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903544 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903544 ms (missed cycles : 3).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263557 ms (missed cycles : 4). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263557 ms (missed cycles : 4).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 8.052ms + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637499 ms (missed cycles : 3). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637499 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806686 ms (missed cycles : 4). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806686 ms (missed cycles : 4).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848050 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848050 ms (missed cycles : 2).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766066 ms (missed cycles : 4). + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766066 ms (missed cycles : 4).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098420 ms (missed cycles : 4). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098420 ms (missed cycles : 4).[0m ×2 + 33.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240379 ms (missed cycles : 2). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240379 ms (missed cycles : 2).[0m ×2 + 35.05sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310280 ms (missed cycles : 4). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310280 ms (missed cycles : 4).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603072 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603072 ms (missed cycles : 3).[0m ×2 + 36.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085067 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085067 ms (missed cycles : 2).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157984 ms (missed cycles : 4). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157984 ms (missed cycles : 4).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778063 ms (missed cycles : 4). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778063 ms (missed cycles : 4).[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453748 ms (missed cycles : 2). + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453748 ms (missed cycles : 2).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 41.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873589 ms (missed cycles : 2). + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873589 ms (missed cycles : 2).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530687 ms (missed cycles : 4). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530687 ms (missed cycles : 4).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019140 ms (missed cycles : 2). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019140 ms (missed cycles : 2).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485271 ms (missed cycles : 2). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485271 ms (missed cycles : 2).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810670 ms (missed cycles : 4). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810670 ms (missed cycles : 4).[0m ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577192 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577192 ms (missed cycles : 3).[0m ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539596 ms (missed cycles : 4). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539596 ms (missed cycles : 4).[0m ×2 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925501 ms (missed cycles : 2). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925501 ms (missed cycles : 2).[0m ×2 + 50.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726672 ms (missed cycles : 2). + 50.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726672 ms (missed cycles : 2).[0m ×2 + 51.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855220 ms (missed cycles : 2). + 51.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855220 ms (missed cycles : 2).[0m ×2 + 52.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046681 ms (missed cycles : 4). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046681 ms (missed cycles : 4).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559131 ms (missed cycles : 4). + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559131 ms (missed cycles : 4).[0m ×2 + 54.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386842 ms (missed cycles : 4). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386842 ms (missed cycles : 4).[0m ×2 + 55.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519036 ms (missed cycles : 5). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519036 ms (missed cycles : 5).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521706 ms (missed cycles : 4). + 56.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521706 ms (missed cycles : 4).[0m ×2 + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727376 ms (missed cycles : 3). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727376 ms (missed cycles : 3).[0m ×2 + 59.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426141 ms (missed cycles : 2). + 59.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426141 ms (missed cycles : 2).[0m ×2 + 59.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563676 ms (missed cycles : 3). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563676 ms (missed cycles : 3).[0m ×2 + 60.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787695708.43296456 seconds ×3 + 60.87sWARNlocal_costmap.local_costmapSensor origin at (-2.96, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.87sWARNlocal_costmap.local_costmapSensor origin at (-3.86, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.981ms + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889637 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889637 ms (missed cycles : 3).[0m ×2 + 61.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787695709.03074980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.72sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 61.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803742 ms (missed cycles : 3). + 62.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803742 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.0s	182 warnings · 224 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.56sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 0.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 2.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.11sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.11sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.11sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.11sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695410.50119281 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695411.09142470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611678 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611678 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656032 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656032 ms (missed cycles : 2).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.211ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031294 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031294 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148468 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148468 ms (missed cycles : 2).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 10.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802349 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802349 ms (missed cycles : 3).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 11.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140907 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140907 ms (missed cycles : 4).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 12.56sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228335 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228335 ms (missed cycles : 4).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886048 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886048 ms (missed cycles : 3).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141129 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141129 ms (missed cycles : 4).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505454 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505454 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461759 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461759 ms (missed cycles : 3).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms ×2 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943156 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943156 ms (missed cycles : 2).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032780 ms (missed cycles : 5). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032780 ms (missed cycles : 5).[0m ×2 + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733350 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733350 ms (missed cycles : 2).[0m ×2 + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486432 ms (missed cycles : 4). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486432 ms (missed cycles : 4).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090421 ms (missed cycles : 5). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090421 ms (missed cycles : 5).[0m ×2 + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628809 ms (missed cycles : 3). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628809 ms (missed cycles : 3).[0m ×2 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419568 ms (missed cycles : 4). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419568 ms (missed cycles : 4).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583799 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583799 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113413 ms (missed cycles : 5). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113413 ms (missed cycles : 5).[0m ×2 + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662762 ms (missed cycles : 4). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662762 ms (missed cycles : 4).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064179 ms (missed cycles : 4). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064179 ms (missed cycles : 4).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411487 ms (missed cycles : 4). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411487 ms (missed cycles : 4).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677009 ms (missed cycles : 2). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677009 ms (missed cycles : 2).[0m ×2 + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524804 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524804 ms (missed cycles : 2).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569462 ms (missed cycles : 4). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569462 ms (missed cycles : 4).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673167 ms (missed cycles : 4). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673167 ms (missed cycles : 4).[0m ×2 + 34.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151246 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151246 ms (missed cycles : 4).[0m ×2 + 35.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711923 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711923 ms (missed cycles : 2).[0m ×2 + 37.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001268 ms (missed cycles : 4). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001268 ms (missed cycles : 4).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203573 ms (missed cycles : 5). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203573 ms (missed cycles : 5).[0m ×2 + 39.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381437 ms (missed cycles : 4). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381437 ms (missed cycles : 4).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096749 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096749 ms (missed cycles : 2).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484119 ms (missed cycles : 3). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484119 ms (missed cycles : 3).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004259 ms (missed cycles : 5). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004259 ms (missed cycles : 5).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123189 ms (missed cycles : 5). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123189 ms (missed cycles : 5).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019752 ms (missed cycles : 2). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019752 ms (missed cycles : 2).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277691 ms (missed cycles : 3). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277691 ms (missed cycles : 3).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883312 ms (missed cycles : 3). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883312 ms (missed cycles : 3).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262832 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262832 ms (missed cycles : 2).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227620 ms (missed cycles : 5). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227620 ms (missed cycles : 5).[0m ×2 + 49.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381092 ms (missed cycles : 4). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381092 ms (missed cycles : 4).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897387 ms (missed cycles : 4). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897387 ms (missed cycles : 4).[0m ×2 + 51.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835986 ms (missed cycles : 5). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835986 ms (missed cycles : 5).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351995 ms (missed cycles : 4). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351995 ms (missed cycles : 4).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765103 ms (missed cycles : 4). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765103 ms (missed cycles : 4).[0m ×2 + 55.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419601 ms (missed cycles : 3). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419601 ms (missed cycles : 3).[0m ×2 + 55.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 56.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 59.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 60.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 61.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.83sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 61.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 61.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 62.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.0s	180 warnings · 191 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.92sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695506.30599427 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.713ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695506.90314627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432196 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432196 ms (missed cycles : 3).[0m ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077849 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077849 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243015 ms (missed cycles : 4). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243015 ms (missed cycles : 4).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.587ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.377ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299784 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299784 ms (missed cycles : 3).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.203ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688981 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688981 ms (missed cycles : 2).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.008ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.471ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574150 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574150 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.969ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817085 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817085 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.755ms + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753051 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753051 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.425ms + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.873ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804075 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804075 ms (missed cycles : 4).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.040ms + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.202ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876532 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876532 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 5.426ms + 16.60sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 6.476ms + 17.10sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 3.595ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057267 ms (missed cycles : 3). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057267 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 3.354ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620954 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620954 ms (missed cycles : 2).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208027 ms (missed cycles : 5). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208027 ms (missed cycles : 5).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377292 ms (missed cycles : 4). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377292 ms (missed cycles : 4).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680330 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680330 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719027 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719027 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928054 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928054 ms (missed cycles : 2).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246480 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246480 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526027 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526027 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676030 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676030 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562063 ms (missed cycles : 2). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562063 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667693 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667693 ms (missed cycles : 2).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475888 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475888 ms (missed cycles : 3).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830340 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830340 ms (missed cycles : 2).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864586 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864586 ms (missed cycles : 2).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755202 ms (missed cycles : 5). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755202 ms (missed cycles : 5).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963527 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963527 ms (missed cycles : 2).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601616 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601616 ms (missed cycles : 2).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258364 ms (missed cycles : 4). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258364 ms (missed cycles : 4).[0m ×2 + 36.90sINFOros2_control_nodeMuJoCo sim: 4.85% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337045 ms (missed cycles : 4). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337045 ms (missed cycles : 4).[0m ×2 + 37.63sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168901 ms (missed cycles : 5). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168901 ms (missed cycles : 5).[0m ×2 + 38.41sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665345 ms (missed cycles : 2). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665345 ms (missed cycles : 2).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350684 ms (missed cycles : 4). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350684 ms (missed cycles : 4).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354047 ms (missed cycles : 4). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354047 ms (missed cycles : 4).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258280 ms (missed cycles : 5). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258280 ms (missed cycles : 5).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 42.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579272 ms (missed cycles : 5). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579272 ms (missed cycles : 5).[0m ×2 + 43.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028873 ms (missed cycles : 5). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028873 ms (missed cycles : 5).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300924 ms (missed cycles : 2). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300924 ms (missed cycles : 2).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122658 ms (missed cycles : 2). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122658 ms (missed cycles : 2).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241802 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241802 ms (missed cycles : 2).[0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697187 ms (missed cycles : 4). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697187 ms (missed cycles : 4).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030849 ms (missed cycles : 2). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030849 ms (missed cycles : 2).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495910 ms (missed cycles : 2). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495910 ms (missed cycles : 2).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms ×2 + 52.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207007 ms (missed cycles : 2). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207007 ms (missed cycles : 2).[0m ×2 + 53.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317826 ms (missed cycles : 2). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317826 ms (missed cycles : 2).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778874 ms (missed cycles : 3). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778874 ms (missed cycles : 3).[0m ×2 + 55.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444782 ms (missed cycles : 4). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444782 ms (missed cycles : 4).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924968 ms (missed cycles : 3). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924968 ms (missed cycles : 3).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 58.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734827 ms (missed cycles : 3). + 58.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734827 ms (missed cycles : 3).[0m ×2 + 58.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787695561.31328917 seconds ×3 + 59.05sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.05sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.849ms + 59.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787695561.90308857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104555 ms (missed cycles : 3). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104555 ms (missed cycles : 3).[0m ×2 + 60.06sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981137 ms (missed cycles : 3). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981137 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	141 warnings · 265 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.41sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2 + 5.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013133 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013133 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841862 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841862 ms (missed cycles : 3).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.597ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122561 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122561 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470779 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470779 ms (missed cycles : 3).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541731 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541731 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915188 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915188 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323760 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323760 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086901 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086901 ms (missed cycles : 4).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287870 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287870 ms (missed cycles : 4).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392611 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392611 ms (missed cycles : 4).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909138 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909138 ms (missed cycles : 3).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583078 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583078 ms (missed cycles : 3).[0m ×2 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075260 ms (missed cycles : 4). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075260 ms (missed cycles : 4).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279311 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279311 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205080 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205080 ms (missed cycles : 2).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561808 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561808 ms (missed cycles : 3).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809829 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809829 ms (missed cycles : 3).[0m ×2 + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580301 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580301 ms (missed cycles : 3).[0m ×2 + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363445 ms (missed cycles : 3). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363445 ms (missed cycles : 3).[0m ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578298 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578298 ms (missed cycles : 3).[0m ×2 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877405 ms (missed cycles : 3). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877405 ms (missed cycles : 3).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356993 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356993 ms (missed cycles : 4).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756840 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756840 ms (missed cycles : 2).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538574 ms (missed cycles : 3). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538574 ms (missed cycles : 3).[0m ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208651 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208651 ms (missed cycles : 3).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892734 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892734 ms (missed cycles : 3).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936070 ms (missed cycles : 3). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936070 ms (missed cycles : 3).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116300 ms (missed cycles : 3). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116300 ms (missed cycles : 3).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193626 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193626 ms (missed cycles : 2).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269995 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269995 ms (missed cycles : 3).[0m ×2 + 37.57sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.768ms + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831478 ms (missed cycles : 2). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831478 ms (missed cycles : 2).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362379 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362379 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434599 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434599 ms (missed cycles : 3).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800661 ms (missed cycles : 2). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800661 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780384 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780384 ms (missed cycles : 3).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 46.82sINFOjoint_trajectory_controllerGoal reached, success! + 46.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 46.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.07sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 47.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 48.58sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 48.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	112 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717207 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717207 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402289 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402289 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624588 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624588 ms (missed cycles : 3).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.13sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787695473.77308893 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553946 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553946 ms (missed cycles : 3).[0m ×2 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838863 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838863 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787695475.36583924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784221 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784221 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.25sINFOjoint_trajectory_controllerReceived new action goal + 7.25sINFOjoint_trajectory_controllerAccepted new action goal + 7.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993218 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993218 ms (missed cycles : 2).[0m ×2 + 8.61sINFOros2_control_nodeMuJoCo sim: 4.71% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239402 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239402 ms (missed cycles : 3).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.068ms + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.174ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817620 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817620 ms (missed cycles : 3).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.347ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814216 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814216 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.612ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739151 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739151 ms (missed cycles : 3).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.182ms + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.948ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917994 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917994 ms (missed cycles : 2).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.891ms + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.063ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956356 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956356 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.897ms + 14.71sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 5.177ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191430 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191430 ms (missed cycles : 2).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.154ms + 15.71sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 3.289ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.277ms + 16.70sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.063ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984076 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984076 ms (missed cycles : 3).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283836 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283836 ms (missed cycles : 3).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422788 ms (missed cycles : 6). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422788 ms (missed cycles : 6).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875245 ms (missed cycles : 5). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875245 ms (missed cycles : 5).[0m ×2 + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729423 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729423 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476392 ms (missed cycles : 4). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476392 ms (missed cycles : 4).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655227 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655227 ms (missed cycles : 3).[0m ×2 + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642389 ms (missed cycles : 2). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642389 ms (missed cycles : 2).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076752 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076752 ms (missed cycles : 4).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672896 ms (missed cycles : 4). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672896 ms (missed cycles : 4).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933744 ms (missed cycles : 4). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933744 ms (missed cycles : 4).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378411 ms (missed cycles : 4). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378411 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714814 ms (missed cycles : 2). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714814 ms (missed cycles : 2).[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983114 ms (missed cycles : 3). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983114 ms (missed cycles : 3).[0m ×2 + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4).[0m ×2 + 33.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2).[0m ×2 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5).[0m ×2 + 35.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695506.30599427 seconds ×3 + 35.76sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 35.76sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 35.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.713ms + 35.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3).[0m ×2 + 36.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695506.90314627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.71sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.0s	62 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521706 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521706 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727376 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727376 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426141 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426141 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563676 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563676 ms (missed cycles : 3).[0m ×2 + 3.69sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.69sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787695708.43296456 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.91sWARNlocal_costmap.local_costmapSensor origin at (-2.96, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.91sWARNlocal_costmap.local_costmapSensor origin at (-3.86, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.981ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889637 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889637 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787695709.03074980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803742 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803742 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798088 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798088 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342350 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342350 ms (missed cycles : 3).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666576 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666576 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423386 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423386 ms (missed cycles : 3).[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×4 + 10.67sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (7.76e-07 s). ×2 + 10.75sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 10.88sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989073 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989073 ms (missed cycles : 3).[0m ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 11.62sINFOobjective_server_nodeFound path in 33 iterations (0.0337561 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783550 ms (missed cycles : 4). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783550 ms (missed cycles : 4).[0m ×2 + 12.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.75sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999155 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999155 ms (missed cycles : 3).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397298 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397298 ms (missed cycles : 3).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 14.58sINFOros2_control_nodeMuJoCo sim: 9.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 16.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.908ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3).[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.693ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3).[0m ×2 + 18.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695723.43826771 seconds ×3 + 18.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 19.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695724.06333113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.38sINFOmove_groupClearing octomap...[0m ×2 + 19.38sINFOmove_groupOctomap cleared.[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3).[0m ×2 + 19.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695724.65348768 seconds ×3 + 20.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695725.23526812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3).[0m ×2 + 21.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695725.83540201 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	94 errors · 33 warnings · 432 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.908ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.693ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695723.43826771 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695724.06333113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.71sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695724.65348768 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695725.23526812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695725.83540201 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230533 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230533 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865605 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865605 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472365 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472365 ms (missed cycles : 2).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588530 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588530 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645092 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645092 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327798 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327798 ms (missed cycles : 2).[0m ×2 + 11.63sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.69sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORweb_video_auth_proxy-35process has died [pid 9537, 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 + 11.69sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.72sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORweb_bridge_auth_proxy-34process has died [pid 9536, 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 + 11.73sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.81sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.84sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.87sINFOvideo_server-33process has finished cleanly [pid 9535] ×2 + 11.87sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.89sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.92sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.95sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.98sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.00sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.01sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.04sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.08sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.09sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9534] ×2 + 12.10sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.14sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.17sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787695732.229 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.17sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787695732.229 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.17sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.17sINFOcontroller_managerShutdown request received.... + 12.17sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.17sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.17sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.17sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.17sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.17sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down the controller manager. + 12.19sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.20sERRORmove_group-21process has died [pid 9517, 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_fifu1bgt --params-file /tmp/launch_params_amtsbg6w --params-file /tmp/launch_params_rndckbcz --params-file /tmp/launch_params_qhx3n87d --params-file /tmp/launch_params_6_ujpvng --params-file /tmp/launch_params_m1oiskdy']. ×2 + 12.22sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.22sINFOui_teleop_bridge-30process has finished cleanly [pid 9532] ×2 + 12.22sINFOcomponent_container_mt-28process has finished cleanly [pid 9530] ×2 + 12.24sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.26sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.26sINFOexecute_objective_bridge-29process has finished cleanly [pid 9531] ×2 + 12.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.31sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.33sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.33sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.33sINFOmap_serverDeactivating + 12.33sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.34sINFOmap_serverCleaning up + 12.34sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.34sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.35sINFOcontroller_serverDeactivating + 12.35sINFOlocal_costmap.local_costmapDeactivating + 12.35sINFOvideo_server2026/08/25 22:08:52 INF shutting down gracefully ×2 + 12.35sINFOvideo_server2026/08/25 22:08:52 INF [WebRTC] closing ×2 + 12.35sINFOvideo_server2026/08/25 22:08:52 INF [RTSP] closing ×2 + 12.35sINFOvideo_server2026/08/25 22:08:52 INF waiting for running hooks ×2 + 12.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORamclThe bond connection to the lifecycle manager has been broken + 12.36sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.36sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.36sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.37sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.37sERRORmove_groupStack trace (most recent call last) in thread 10133: ×2 + 12.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40a1198a63, in __clone ×2 + 12.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40a110baa3, in ×2 + 12.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40a139ddb3, in ×2 + 12.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f40a1b0ea47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40a172f620, in rclcpp::Rate::sleep() ×2 + 12.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40a1671d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40a1633087, in ×2 + 12.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40a136c390, in __cxa_throw ×2 + 12.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40a1356a54, in std::terminate() ×2 + 12.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40a136c0d9, in ×2 + 12.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40a1356ff4, in ×2 + 12.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40a10978fe, in abort ×2 + 12.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40a10b427d, in raise ×2 + 12.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40a110db2c, in pthread_kill ×2 + 12.37sERRORmove_groupAborted (Signal sent by tkill() 9517 0) ×2 + 12.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.37sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.38sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.38sINFOodom_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 + 12.38sINFOodom_qos_relay.pymain() ×2 + 12.38sINFOodom_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 + 12.38sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.38sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.38sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.38sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.38sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.38sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.39sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.40sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.44sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.45sINFOcontroller_serverCleaning up + 12.45sINFOlocal_costmap.local_costmapCleaning up + 12.50sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.50sINFOsmoother_serverDeactivating + 12.50sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.51sINFOsmoother_serverCleaning up + 12.52sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.52sINFOplanner_serverDeactivating + 12.52sINFOglobal_costmap.global_costmapDeactivating + 12.55sERRORcomponent_container_isolated-2process has died [pid 9403, 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_beva41e1 --params-file /tmp/launch_params_axmgbrzv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.55sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.55sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.55sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.55sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.55sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.55sINFOvelocity_smootherDeactivating + 12.55sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.67sINFOwaypoint_followerDeactivating + 12.67sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.78sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.78sINFObt_navigatorDeactivating + 12.78sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.89sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.89sINFObehavior_serverDeactivating + 12.89sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.00sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.00sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 13.01sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.01sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.01sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.01sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.01sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.01sINFOvelocity_smootherCleaning up + 13.01sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.01sINFOwaypoint_followerCleaning up + 13.04sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.04sINFObt_navigatorCleaning up + 13.07sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9527] ×2 + 13.10sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9524] ×2 + 13.15sINFOobjective_server_node[2026-08-25 22:08:53.506] [moveit_pro_license] [critical] ×2 + 13.15sINFOobjective_server_node************************************************* ×4 + 13.15sINFOobjective_server_node* MoveIt Pro License ×2 + 13.15sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.18sINFOparameter_manager_node-22process has finished cleanly [pid 9518] ×2 + 13.18sINFOwaypoint_manager_node-23process has finished cleanly [pid 9519] ×2 + 13.19sINFOcomponent_container_mt-27process has finished cleanly [pid 9529] ×2 + 13.22sINFOobjective_server_node_main-26process has finished cleanly [pid 9528] ×2 + 13.22sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.22sINFObt_navigatorCompleted Cleaning up + 13.22sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.22sINFObehavior_serverCleaning up + 13.24sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9409] ×2 + 13.26sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9408] ×2 + 13.27sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.27sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.28sINFOplanner_serverCleaning up + 13.28sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.28sERRORplanner_serverUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.28sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.28sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.28sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.28sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.28sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.29sINFOglobal_costmap.global_costmapCleaning up + 13.30sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.30sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.33sINFOstatic_transform_publisher-4process has finished cleanly [pid 9405] ×2 + 13.34sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.34sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.34sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.34sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.34sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.35sINFOstatic_transform_publisher-3process has finished cleanly [pid 9404] ×2 + 13.37sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9407] ×2 + 13.38sERRORodom_qos_relay.py-5process has died [pid 9406, 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 + 13.66sERRORcomponent_container_isolated-1process has died [pid 9402, 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_beva41e1 --params-file /tmp/launch_params_1tuxw80b -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.91sINFOros2_control_node-9process has finished cleanly [pid 9410] ×2 + 14.91sINFOweb_bridge-31process has finished cleanly [pid 9533] ×2 + 14.91sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 55 warnings · 113 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778874 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778874 ms (missed cycles : 3).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444782 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444782 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924968 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924968 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734827 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734827 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787695561.31328917 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.849ms + 4.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787695561.90308857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104555 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104555 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981137 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981137 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706604 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706604 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.17sINFOjoint_trajectory_controllerReceived new action goal + 7.17sINFOjoint_trajectory_controllerAccepted new action goal + 7.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942703 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942703 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306958 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306958 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.067ms + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.444ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762437 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762437 ms (missed cycles : 4).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.725ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.341ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805052 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805052 ms (missed cycles : 2).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.753ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366362 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366362 ms (missed cycles : 4).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.603ms + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274117 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274117 ms (missed cycles : 3).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.369ms + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.650ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409708 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409708 ms (missed cycles : 2).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.618ms + 14.67sINFOobjective_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 + 14.68sINFOjoint_trajectory_controllerGot request to cancel goal + 14.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.72sERRORobjective_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: 1787695572.15547562 seconds ×3 + 14.87sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.87sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.677ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046214 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046214 ms (missed cycles : 2).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787695572.74810386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720566 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720566 ms (missed cycles : 2).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075904 ms (missed cycles : 4). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075904 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.2s	44 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717207 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717207 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402289 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402289 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624588 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624588 ms (missed cycles : 3).[0m ×2 + 10.43sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787695473.77308893 seconds ×3 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553946 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553946 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838863 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838863 ms (missed cycles : 3).[0m ×2 + 12.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787695475.36583924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.43sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784221 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784221 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	40 warnings · 94 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790844 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790844 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542760 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542760 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076224 ms (missed cycles : 5). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076224 ms (missed cycles : 5).[0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579427 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579427 ms (missed cycles : 3).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787695644.78826427 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-2.28, 14.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.830ms + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-0.97, 7.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 6.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.503ms + 4.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787695645.39323783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424446 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424446 ms (missed cycles : 4).[0m ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648185 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648185 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 10.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 11.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	27 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.77sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2).[0m ×2 + 7.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695410.50119281 seconds ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695411.09142470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 83 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 0.21sINFOros2_control_nodeMuJoCo sim: 9.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.908ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.693ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3).[0m ×2 + 4.35sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695723.43826771 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695724.06333113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.01sINFOmove_groupClearing octomap...[0m ×2 + 5.01sINFOmove_groupOctomap cleared.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695724.65348768 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695725.23526812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695725.83540201 seconds ×3 + 7.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230533 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230533 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.56sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 0.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 2.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOjoint_trajectory_controllerReceived new action goal + 2.11sINFOjoint_trajectory_controllerAccepted new action goal + 2.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695410.50119281 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554008 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695411.09142470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867060 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695506.30599427 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.713ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695506.90314627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695506.30599427 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.713ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695506.90314627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888112 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061584 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035425 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755244 ms (missed cycles : 5).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695506.30599427 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.713ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.311ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872023 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695506.90314627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449534 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 83 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 0.21sINFOros2_control_nodeMuJoCo sim: 9.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247659 ms (missed cycles : 5).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318184 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.908ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709241 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.693ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094198 ms (missed cycles : 3).[0m ×2 + 4.35sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695723.43826771 seconds ×3 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695724.06333113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.01sINFOmove_groupClearing octomap...[0m ×2 + 5.01sINFOmove_groupOctomap cleared.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420453 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695724.65348768 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695725.23526812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498804 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695725.83540201 seconds ×3
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.41sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2 + 5.50sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242513 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875845 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340654 ms (missed cycles : 3).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201864 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695407.03897166 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.970ms + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695407.62106681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431584 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.1559e-05 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231754 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787609 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544462 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300169 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799122 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347647 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695467.53156185 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.163ms + 4.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695468.12295532 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 ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974280 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119171 ms (missed cycles : 4).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843886 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642919 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909332 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253445 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695651.29339409 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695651.89281225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269062 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564312 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 · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 7.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587667 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587667 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 4.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.61sINFOmove_groupClearing octomap...[0m ×2 + 4.61sINFOmove_groupOctomap cleared.[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_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 + 6.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 7.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 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 3.587667 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587667 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×12 + 4.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.61sINFOmove_groupClearing octomap...[0m ×2 + 4.61sINFOmove_groupOctomap cleared.[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_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 + 6.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786897 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2

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

10 skip

− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[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 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[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 · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[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 · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 208 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808556 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 3.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753354 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695361.59213328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695361.60235333 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695362.19210458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695362.20223808 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807972 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695362.78217816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695362.93273997 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260574 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695363.54288483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695363.61305571 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695364.20748067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821176 ms (missed cycles : 3).[0m ×2